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We present a novel method for extrinsically calibrating a camera and a 2D Laser Rangefinder (LRF) whose beams are invisible from the camera image. We show that point-to-plane constraints from a single observation of a V-shaped calibration…
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highly accurate calibration between them. In this paper, we…
This paper proposes a novel algorithm of discovering the structure of a kaleidoscopic imaging system that consists of multiple planar mirrors and a camera. The kaleidoscopic imaging system can be recognized as the virtual multi-camera…
Accurate depth estimation is crucial for 3D scene comprehension in robotics and autonomous vehicles. Fisheye cameras, known for their wide field of view, have inherent geometric benefits. However, their use in depth estimation is restricted…
For many computer vision applications, the availability of camera calibration data is crucial as overall quality heavily depends on it. While calibration data is available on some devices through Augmented Reality (AR) frameworks like…
Camera-based perception systems play a central role in modern autonomous vehicles. These camera based perception algorithms require an accurate calibration to map the real world distances to image pixels. In practice, calibration is a…
We propose a novel method for spatiotemporal multi-camera calibration using freely moving people in multiview videos. Since calibrating multiple cameras and finding matches across their views are inherently interdependent, performing both…
In 3D reconstruction, the recovery of the calibration parameters of the cameras is paramount since it provides metric information about the observed scene, e.g., measures of angles and ratios of distances. Autocalibration enables the…
Color-depth cameras (RGB-D cameras) have become the primary sensors in most robotics systems, from service robotics to industrial robotics applications. Typical consumer-grade RGB-D cameras are provided with a coarse intrinsic and extrinsic…
Millimeter-wave (mmWave) Radar--Camera fusion improves perception under adverse illumination and weather, but its performance is sensitive to Radar--Camera extrinsic calibration: residual misalignment biases Radar-to-image projection and…
Calibration in a multi camera network has widely been studied for over several years starting from the earlier days of photogrammetry. Many authors have presented several calibration algorithms with their relative advantages and…
Wide-angle cameras are widely used in photogrammetry and autonomous systems which rely on the accurate metric measurements derived from images. To find the geometric relationship between incoming rays and image pixels, geometric camera…
Consumer cameras, particularly onboard smartphones and UAVs, are now commonly used as scientific instruments. However, their data processing pipelines are not optimized for quantitative radiometry and their calibration is more complex than…
Multi-camera systems are widely employed in sports to capture the 3D motion of athletes and equipment, yet calibrating their extrinsic parameters remains costly and labor-intensive. We introduce an efficient, tool-free method for…
Camera calibration is a crucial technique which significantly influences the performance of many robotic systems. Robustness and high precision have always been the pursuit of diverse calibration methods. State-of-the-art calibration…
Time-of-flight cameras provide depth information, which is complementary to the photometric appearance of the scene in ordinary images. It is desirable to merge the depth and colour information, in order to obtain a coherent scene…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…
LiDAR-camera systems have become increasingly popular in robotics recently. A critical and initial step in integrating the LiDAR and camera data is the calibration of the LiDAR-camera system. Most existing calibration methods rely on…
Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a…
This paper proposes an automated method to obtain the extrinsic calibration parameters between a camera and a 3D lidar with as low as 16 beams. We use a checkerboard as a reference to obtain features of interest in both sensor frames. The…