Related papers: Extrinsic Parameter Calibration for Line Scanning …
We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to…
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…
In this work we present a unified method of relative camera pose estimation from points and lines correspondences. Given a set of 2D points and lines correspondences in three views, of which two are known, a method has been developed for…
Camera pose tracking attracts much interest both from academic and industrial communities, of which the methods based on planar markers are easy to be implemented. However, most of the existing methods need to identify multiple points in…
The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…
4D imaging radar is a type of low-cost millimeter-wave radar(costing merely 10-20$\%$ of lidar systems) capable of providing range, azimuth, elevation, and Doppler velocity information. Accurate extrinsic calibration between millimeter-wave…
Most current single image camera calibration methods rely on specific image features or user input, and cannot be applied to natural images captured in uncontrolled settings. We propose directly inferring camera calibration parameters from…
We propose a minimal solution for pose estimation using both points and lines for a multi-perspective camera. In this paper, we treat the multi-perspective camera as a collection of rigidly attached perspective cameras. These type of…
Calibrating the extrinsic parameters of sensory devices is crucial for fusing multi-modal data. Recently, event cameras have emerged as a promising type of neuromorphic sensors, with many potential applications in fields such as mobile…
This work is concerned with camera pose estimation from correspondences of 3D/2D lines, i. e. with the Perspective-n-Line (PnL) problem. We focus on large line sets, which can be efficiently solved by methods using linear formulation of…
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…
The choice of poses for camera calibration with planar patterns is only rarely considered - yet the calibration precision heavily depends on it. This work presents a pose selection method that finds a compact and robust set of calibration…
We propose a fully automated system that simultaneously estimates the camera intrinsics, the ground plane, and physical distances between people from a single RGB image or video captured by a camera viewing a 3-D scene from a fixed vantage…
Perspective-n-Point-and-Line (P$n$PL) algorithms aim at fast, accurate, and robust camera localization with respect to a 3D model from 2D-3D feature correspondences, being a major part of modern robotic and AR/VR systems. Current…
Camera calibration is a process of paramount importance in computer vision applications that require accurate quantitative measurements. The popular method developed by Zhang relies on the use of a large number of images of a planar grid of…
We present a direct method to calculate a 6DoF pose change of a monocular camera for mobile navigation. The calculated pose is estimated up to a constant unknown scale parameter that is kept constant over the entire reconstruction process.…
Navigation of a mobile robot is conditioned on the knowledge of its pose. In observer-based localisation configurations its initial pose may not be knowable in advance, leading to the need of its estimation. Solutions to the problem of…
Camera calibration is an essential prerequisite for event-based vision applications. Current event camera calibration methods typically involve using flashing patterns, reconstructing intensity images, and utilizing the features extracted…
Circular markers are planar markers which offer great performances for detection and pose estimation. For an uncalibrated camera with an unknown focal length, at least the images of at least two coplanar circles are generally required to…
We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an…