In this paper, we revisit the classical perspective-n-point (PnP) problem, and propose the
first non-iterative O (n) solution that is fast, generally applicable and globally optimal. Our …

In this survey article, we present interactions between algebraic geometry and computer
vision, which have recently come under the header of algebraic vision. The subject has …

An approach for estimating the pose of a camera given a set of 3D points and their
corresponding 2D image projections is presented. It formulates the problem as a non-linear …

We propose the first general and scalable framework to design certifiable algorithms for
robust geometric perception in the presence of outliers. Our first contribution is to show that …

A large number of absolute pose algorithms have been presented in the literature. Common
performance criteria are computational complexity, geometric optimality, global optimality …

In this paper we study the problem of automatically generating polynomial solvers for
minimal problems. The main contribution is a new method for finding small elimination …

We present an approach to solving hard geometric optimization problems in the RANSAC
framework. The hard minimal problems arise from relaxing the original geometric …

This paper addresses the question of identifying the right camera direct or inverse distortion
model, permitting a high subpixel precision to fit to real camera distortion. Five classic …

The registration of 3D models by a Euclidean transformation is a fundamental task at the
core of many application in computer vision. This problem is non-convex due to the …

We present a bi-polynomial reflectance model that can precisely represent the low-
frequency component of reflectance. Most existing reflectance models aim at accurately …