Accurate localization of a vehicle is a fundamental challenge and one of the most important
tasks of mobile robots. For autonomous navigation, motion tracking, and obstacle detection …

State-of-the-art automated image orientation (Structure from Motion) and dense image
matching (Multiple View Stereo) methods commonly used to produce 3D information from …

We present an algorithm for tightly aligning two colored point clouds. The key idea is to
optimize a joint photometric and geometric objective that locks the alignment along both the …

This textbook on Photogrammetric Computer Vision–Statistics, Geometry, Orientation and
Reconstruction provides a statistical treatment of the geometry of multiple view analysis …

Part II of the tutorial has summarized the remaining building blocks of the VO pipeline:
specifically, how to detect and match salient and repeatable features across frames and …

This paper presents a method of estimating camera pose in an unknown scene. While this
has previously been attempted by adapting SLAM algorithms developed for robotic …

We propose a non-iterative solution to the P n P problem—the estimation of the pose of a
calibrated camera from n 3D-to-2D point correspondences—whose computational …

Structure from Motion (SfM) is a pipeline that allows three-dimensional reconstruction
starting from a collection of images. A typical SfM pipeline comprises different processing …

We propose a novel, large-scale, structure-from-motion framework that advances the state of
the art in data scalability from city-scale modeling (millions of images) to world-scale …

Camera phones are a promising platform for hand-held augmented reality. As their
computational resources grow, they are becoming increasingly suitable for visual tracking …