This thesis addresses the problem of estimation of the camera poses with respect to a rigid object, which is equivalent to the problem of tridimensional registration of a moving rigid object before fixed cameras. Matching, tracking and 3D reconstruction of feature points by a stereoscopic vision setup allows the computation of the homogeneous transformation matrix linking two consecutive scene ...

We present a direct method to calculate a 6DoF pose change of a monocular camera for mobile navigation. The calculated pose is estimated up to a constant unknown scale parameter that is kept constant over the entire reconstruction process. This method allows a direct calculation of the metric position and rotation without any necessity to fuse the information in a probabilistic approach over lo...

This paper deals with pose estimation using an iterative scheme. We show that using adequate visual information, pose estimation can be performed in a decoupling the estimation of translation and rotation. More precisely, we show that pose estimation can be achieved iteratively as a function of only three independent unknowns, which are the translation parameters. An invariant to rotational mot...

Pose estimation is a fundamental step in many artificial vision tasks. It consists of estimating the 3D pose of an object with respect to a camera from the object's 2D projection. Current state of the art implementations operate on images. These implementations are computationally expensive, especially for real-time applications. Scenes with fast dynamics exceeding 30-60 Hz can rarely be proces...

This paper considers the vision-based estimation and pose control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After ...

Despite the recent advancements, camera pose estimation using smart phone’s sensor data is still errorprone due to various environmental noise and variability of the force applied on the phone during data acquisition. Here, we propose a novel framework to mitigate these drawbacks of camera pose estimation using various sensor’s data. The directional information of accelerometer is utilized to o...

Head pose estimation in low resolution is a challenge problem. Traditional pose estimation algorithms, which assume faces have been well aligned before pose estimation, would face much difficulty in this situation, since face alignment itself does not work well in this low resolution scenario. In this paper, we propose to estimate head pose using viewbased multi-view face detectors directly. Na...

Abstract: This paper presents a method for 3D Human Body pose estimation by using a multi-camera system. The pose is estimated by RANSAC-object search with a robust least square fitting of 3D points to SuperQuadric (SQ) models of the searched object. The solution is verified by evaluating the matching score between the SQ object model and 3D real data captured by a multi-camera system and segme...