Accurate 6DoF (degrees of freedom) pose and focal length estimation are important in extended reality (XR) applications, enabling precise object alignment and projection scaling, thereby enhancing user experiences. This study focuses on improving 6DoF pose estimation using single RGB images of unknown camera metadata. Estimating the 6DoF pose and focal length from an uncontrolled RGB image, obtained from the internet, is challenging because it often lacks crucial metadata. Existing methods such as FocalPose and Focalpose++ have made progress in this domain but still face challenges due to the projection scale ambiguity between the translation of an object along the z-axis (tz) and the camera's focal length. To overcome this, we propose a two-stage strategy that decouples the projection scaling ambiguity in the estimation of z-axis translation and focal length. In the first stage, tz is set arbitrarily, and we predict all the other pose parameters and focal length relative to the fixed tz. In the second stage, we predict the true value of tz while scaling the focal length based on the tz update. The proposed two-stage method reduces projection scale ambiguity in RGB images and improves pose estimation accuracy. The iterative update rules constrained to the first stage and tailored loss functions including Huber loss in the second stage enhance the accuracy in both 6DoF pose and focal length estimation. Experimental results using benchmark datasets show significant improvements in terms of median rotation and translation errors, as well as better projection accuracy compared to the existing state-of-the-art methods. In an evaluation across the Pix3D datasets (chair, sofa, table, and bed), the proposed two-stage method improves projection accuracy by approximately 7.19%. Additionally, the incorporation of Huber loss resulted in a significant reduction in translation and focal length errors by 20.27% and 6.65%, respectively, in comparison to the Focalpose++ method.
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http://dx.doi.org/10.3390/s24175474 | DOI Listing |
Phys Rev Lett
December 2024
MSC, CNRS, Université Paris Cité, UMR 7057, F-75013 Paris, France.
We report on the dynamics of a soliton propagating on the surface of a fluid in a 4-m-long canal with a random or periodic bottom topography. Using a full space-and-time resolved wave field measurement, we evidence, for the first time experimentally, how the soliton is affected by the disorder, in the context of Anderson localization, and how localization depends on nonlinearity. For weak soliton amplitudes, the localization length is found in quantitative agreement with a linear shallow-water theory.
View Article and Find Full Text PDF<b>Background and Objective:</b> The biodiversity of rice cultivars, including local rice from North Sulawesi, represents a potential source of germplasm for fulfilling national food needs. A few publications related to the characteristics of salinity stress resistance in rice cultivars, including local rice from North Sulawesi. This study aimed to examine the morphological response to salinity stress at the germination phase in eight rice cultivars cultivated in North Sulawesi, Indonesia.
View Article and Find Full Text PDFLangmuir
January 2025
Department of Materials Science and Engineering, University of Delaware, Newark, Delaware 19716, United States.
We synthesized rigid, macromolecular brushes with well-defined and quantized brush lengths on a gold nanoparticle substrate by using a macromolecular "grafting from" approach. The macromonomers used in these brushes were thiol- and maleimide-functionalized peptide coiled coil "bundlemers" that fold into discrete 4 nm × 2 nm (length × diameter) cylindrical nanoparticles. With each added peptide macromonomer layer, brush thickness increased by approximately the length of a single bundlemer nanoparticle.
View Article and Find Full Text PDFJ Endovasc Ther
January 2025
Angiology and Vascular Surgery Department, Hospital de Santa Marta, Unidade Local de Saúde São José, Lisbon, Portugal.
Introduction: Vascular trainees are required to have a comprehensive training program, encompassing the completion of clinical, surgical, and research tasks. To fulfill their surgical abilities and performance, sufficient supervised operating time is mandatory. After open vascular procedures, it has been observed that trainee involvement does not lead to detrimental outcomes.
View Article and Find Full Text PDFOpen Forum Infect Dis
January 2025
Italian College of General Practitioners and Primary Care, Florence, Italy.
Background: Risk of herpes zoster (HZ) infection increases with age and immunosuppression. We estimated the impact of HZ and post-herpetic neuralgia (PHN) on direct costs and health care resource utilization (HCRU) in patients ≥50 years, including those with comorbidities, as limited information exists in Italy.
Methods: This retrospective analysis used reimbursement data from local health authorities in Italy (January 2009-June 2022).
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