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In this paper we present new techniques for constructing compact and robust minimal solvers for absolute pose estimation. We focus on the P4Pfr problem, but the methods we propose are applicable to a more general setting. Previous approaches to P4Pfr suffer from artificial degeneracies which come from their formulation and not the geometry of the original problem. In this paper we show how to avoid...
A great variety of computer vision tasks, such as rigid/nonrigid structure from motion and photometric stereo, can be unified into the problem of approximating a low-rank data matrix in the presence of missing data and outliers. To improve robustness, the L1-norm measurement has long been recommended. Unfortunately, existing methods usually fail to minimize the L1-based nonconvex objective function...
We present a method for tracking deformable surfaces in 3D using a stereo rig. Different from traditional recursive tracking approaches that provide a strong prior on the pose for each new frame, the proposed method tracks deformable surfaces by detecting them in individual frames. In our method, the model of the surface is represented by a triangulated mesh. The constraints for model to image keypoint...
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