Vision-based localization systems, namely visual odometry (VO) and visual inertial odometry
(VIO), have attracted great attention recently. They are regarded as critical modules for …

Although Global Navigation Satellite Systems (GNSSs) generally provide adequate
accuracy for outdoor localization, this is not the case for indoor environments, due to signal …

Visual Place Recognition (VPR) is often characterized as being able to recognize the same
place despite significant changes in appearance and viewpoint. VPR is a key component of …

We present a novel 2-point method for estimating the relative pose of a camera undergoing
planar motion from 3D data (eg from a calibrated stereo setup or an RGB-D sensor). Unlike …

We propose three novel solvers for estimating the relative pose of a multi-camera system
from affine correspondences (ACs). A new constraint is derived interpreting the relationship …

In this article, we present four cases of minimal solutions for two-view relative pose
estimation by exploiting the affine transformation between feature points, and we …

In this paper we present four cases of minimal solutions for two-view relative pose estimation
by exploiting the affine transformation between feature points and we demonstrate efficient …

An approach is proposed for recovering affine correspondences (ACs) from orientation-and
scale-covariant, eg, SIFT, features exploiting pre-estimated epipolar geometry. The method …

In this article we study the adaptation of the concept of homography to Rolling Shutter (RS)
images. This extension has never been clearly adressed despite the many roles played by …

Smartphones, tablets and camera systems used, eg, in cars and UAVs, are typically
equipped with IMUs (inertial measurement units) that can measure the gravity vector …