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Showing 1 to 7 of 7 for “"Perspective-n-Point"”.
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Long-range outdoor monocular localization with active features for ship air wake measurement
… simplify the image processing step of the Perspective-n-Point (PnP) problem. The PnP problem describes the calculation of pose from n extracted image points corresponding to n known 3D world points. The proposed application method operates in tandem with a tethered unmanned aerial vehicle …
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Active Multi-View Object Pose Estimation Using a Mobile Ground Robot
… orientation toward the object center. At each waypoint, 2D image corners are manually annotated and paired with corresponding 3D object coordinates. The Perspective-n-Point (solvePnP) algorithm is then applied to estimate the object's pose relative to the camera. The system transforms these …
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Person Profiles and Sensor Calibration for Intent Recognition in Socially Aware Navigation
Earlier work in the field of intent recognition used laser and cameras to track people and extract physical information to train and test models of intention. With the progression of computation abilities, Neural Networks have made it possible to extract additional information that earlier work was …
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State and Dynamics Estimation in an Outdoor Multi-Drone Slung Load System
… external motion capture devices. In simulation, perspective-n-point-based visual estimation achieves position errors of 0.1 m, and geodesic distance attitude errors around 0 ◦ . Real world testing shows errors of 0.2 m and 5 ◦ respectively. Applying extended Kalman filter and unscented Kalman …
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Autonomous Close Formation Flight of Small UAVs Using Vision-Based Localization
… implemented, and tested from the follower’s perspective using vision-based localization.</p> <p>The tasks of localization and control were carried out with separate processing hardware dedicated to each task. First, software was written to estimate the relative state of a lead UAV in …
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Towards Multi-Person 3D Pose Estimation in Natural Videos
… fashion. Torso estimation is formulated as a Perspective-N-Point (PNP) problem, limb pose estimation is solved as an optimization problem, and the high dimensional pose estimation is hierarchically addressed efficiently. As an extension to Hierarchical 3D Human Pose Estimation (H3DHPE), …
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Detekce známých 3D objektů v obraze
Tato bakalářská práce se zabývá detekcí známého 3D objektu v obraze a odhadem jeho pozice vůči kameře. Metoda využívá význačné body typu ORB a jejich pozici na povrchu obalového kvádru. Za pomoci řešení PnP problému je získána pozice objektu z 2D souřadnic bodu v detekovaném obrazu a 3D souřadnic …