Feature matching is a challenging computer vision task that involves finding
correspondences between two images of a 3D scene. In this paper we consider the dense …

In this paper, we investigate the problem of visual odometry for ground vehicles based on
the simultaneous utilization of multispectral cameras. It encompasses a stereo rig composed …

Visual odometry is one of the most active topics in computer vision. The automotive industry
is particularly interested in this field due to the appeal of achieving a high degree of …

We propose a technique for joint calibration of a wide-angle rolling shutter camera (eg a
GoPro) and an externally mounted gyroscope. The calibrated parameters are time scaling …

This compendium contains material for an introductory course on homogeneous
representations for geometry in 2 and 3 dimensions, camera projections, representations of …

Robust estimation of the relative pose between two cameras is a fundamental part of
Structure and Motion methods. For calibrated cameras, the five point method together with a …

An open issue in multiple view geometry and structure from motion, applied to real life
scenarios, is the sparsity of the matched key-points and of the reconstructed point cloud. We …

An increasing number of robots and autonomous vehicles are equipped with multiple
cameras to achieve surround-view sensing. The estimation of their relative poses, also …

We describe a method to efficiently generate a model (map) of small-scale objects from
video. The map encodes sparse geometry as well as coarse photometry, and could be used …

Vision is the primary means by which we know where we are, what is nearby, and how we
are moving. The corresponding computer-vision task is the simultaneous mapping of the …