Related papers: CalibNet: Geometrically Supervised Extrinsic Calib…
Accurate camera-to-lidar calibration is a requirement for sensor data fusion in many 3D perception tasks. In this paper, we present SceneCalib, a novel method for simultaneous self-calibration of extrinsic and intrinsic parameters in a…
With the rapid development of autonomous driving and SLAM technology, the performance of autonomous systems using multimodal sensors highly relies on accurate extrinsic calibration. Addressing the need for a convenient, maintenance-friendly…
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standard AV sensor suite (i.e., lidars, cameras) with weather…
Extrinsic Calibration represents the cornerstone of autonomous driving. Its accuracy plays a crucial role in the perception pipeline, as any errors can have implications for the safety of the vehicle. Modern sensor systems collect different…
Calibration of multi-camera systems, i.e. determining the relative poses between the cameras, is a prerequisite for many tasks in computer vision and robotics. Camera calibration is typically achieved using offline methods that use…
In this letter, we present a novel method for automatic extrinsic calibration of high-resolution LiDARs and RGB cameras in targetless environments. Our approach does not require checkerboards but can achieve pixel-level accuracy by aligning…
Accurate camera-LiDAR calibration is a prerequisite for robust multi-modal perception in robotics. Recent target-less approaches based on deep point correspondences achieve remarkable performance for extrinsic calibration but assume…
Multi-modal object detection in autonomous driving has achieved great breakthroughs due to the usage of fusing complementary information from different sensors. The calibration in fusion between sensors such as LiDAR and camera was always…
Accurate extrinsic calibration of multiple LiDARs is crucial for improving the foundational performance of three-dimensional (3D) map reconstruction systems. This paper presents a novel targetless extrinsic calibration framework for…
We present a novel multi-modal extrinsic calibration framework designed to simultaneously estimate the relative poses between event cameras, LiDARs, and RGB cameras, with particular focus on the challenging event camera calibration. Core of…
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…
Accurate and reliable sensor calibration is critical for fusing LiDAR and inertial measurements in autonomous driving. This paper proposes a novel three-stage extrinsic calibration method between LiDAR and GNSS/INS for autonomous driving.…
Recent works have shown that deep neural networks can achieve super-human performance in a wide range of image classification tasks in the medical imaging domain. However, these works have primarily focused on classification accuracy,…
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…
Advanced autonomous systems rely on multi-sensor fusion for safer and more robust perception. To enable effective fusion, calibrating directly from natural driving scenes (i.e., target-free) with high accuracy is crucial for precise…
Recent progress in the automated driving system (ADS) and advanced driver assistant system (ADAS) has shown that the combined use of 3D light detection and ranging (LiDAR) and the camera is essential for an intelligent vehicle to perceive…
In a multi-sensor fusion system composed of cameras and LiDAR, precise extrinsic calibration contributes to the system's long-term stability and accurate perception of the environment. However, methods based on extracting and registering…
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 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…
Safety-critical 3D scene understanding tasks necessitate not only accurate but also confident predictions from 3D perception models. This study introduces Calib3D, a pioneering effort to benchmark and scrutinize the reliability of 3D scene…