This paper presents a novel application of the Visual Servoing Platform’s (ViSP) for small UAV pose estimation in outdoor environments. Given an initial approximation for the camera position and orientation, or camera pose, ViSP automatically establishes and continuously tracks corresponding features between an image sequence and a 3D wireframe model of the environment. As ViSP has been demonst...

The pose of a calibrated camera can be estimated from known correspondences with known scene structure. There is a number of pose estimation algorithms which solve this problem, however, all of these algorithms suffer from pose ambiguity. This paper analyses the reason of pose ambiguity from the aspect of the distribution of object points. Then, we develop a novel robust method to solve pose am...

In this paper, we analyze two conceptionally different approaches for shape matching: the well-known iterated closest point (ICP) algorithm and variational shape registration via level sets. For the latter, we suggest to use a numerical scheme which was introduced in the context of optic flow estimation. For the comparison, we focus on the application of shape matching in the context of pose es...

Unmanned aerial vehicles normally rely on GPS to provide pose information for navigation. In this work, we examine stereo visual odometry (SVO) as an alternative pose estimation method for situations in which GPS in unavailable. SVO is an incremental procedure that determines ego-motion by identifying and tracking visual landmarks in the environment, using cameras mounted on-board the vehicle. ...

Tracking, or camera pose determination, is the main technical challenge in numerous applications in computer vision and especially in Augmented Reality. However, pose computation processes commonly exhibit some fluctuations and lack of precision in the estimation of the parameters. This leads to unpleasant visual impressions when augmented scenes are considered. In this paper, we propose an eff...

Tracking, or camera pose determination, is the main technical challenge in numerous applications in computer vision and especially in Augmented Reality. However, pose computation processes commonly exhibit some fluctuations and lack of precision in the estimation of the parameters. This leads to unpleasant visual impressions when augmented scenes are considered. In this paper, we propose an eff...

INTRODUCTION Panoramic image sensors are becoming increasingly popular because they capture large portions of the visual field in a single image. These cameras are particularly effective for capturing and navigating through large, complex 3D environments. Existing vision-based camera pose algorithms are derived for standard field-ofview (FOV) cameras, but few algorithms have been proposed to ta...

Man-made environments posses a lot of regularities which simplify otherwise difficult pose estimation and visual reconstruction tasks. The constraints arising from parallel and orthogonal lines and planes can be efficiently exploited at various stages of vision processing pipeline. In this paper we propose an approach for estimation of vanishing points by exploiting the constraints of structure...

In this paper, we present an extensive study about the influence and the behavior of the intrinsic camera calibration imprecisions and their propagation into the extrinsic calibration between a camera and a multi-layer lidar. Usually, the extrinsic calibration process involves the pose estimation of a reference object in the Cartesian frame of each sensor. From this fact, it is necessary to kno...

A well known problem in photogrammetry and computer vision is the precise and robust determination of camera poses with respect to a given 3D model. In this work we propose a novel multi-modal method for single image camera pose estimation with respect to 3D models with intensity information (e.g., LiDAR data with reflectance information). We utilize a direct point based rendering approach to g...