Related papers: Simplified Active Calibration
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…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Sensor fusion is essential for autonomous driving and autonomous robots, and radar-camera fusion systems have gained popularity due to their complementary sensing capabilities. However, accurate calibration between these two sensors is…
The calibration of sensors comprising inertial measurement units is crucial for reliable and accurate navigation. Such calibration is usually performed with specialized expensive rotary tables or requires sophisticated signal processing…
In this paper, we introduce a challenging task: extracting a fundamental matrix from a single motion blurred image. For a camera moving in 3D during exposure, the smear paths in the blurry image contain cues and constraints on this motion.…
In this technical note, we derive a closed-form expression for the affine transformation mapping local image patches between two calibrated views. We show that the transformation is a function of the relative camera pose, the image…
Monocular camera sensors are vital to intelligent vehicle operation and automated driving assistance and are also heavily employed in traffic control infrastructure. Calibrating the monocular camera, though, is time-consuming and often…
LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…
The process of camera calibration involves estimating the intrinsic and extrinsic parameters, which are essential for accurately performing tasks such as 3D reconstruction, object tracking and augmented reality. In this work, we propose a…
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…
In many scenarios where cameras are applied, such as robot positioning and unmanned driving, camera calibration is one of the most important pre-work. The interactive calibration method based on the plane board is becoming popular in camera…
We aim at estimating the fundamental matrix in two views from five correspondences of rotation invariant features obtained by e.g.\ the SIFT detector. The proposed minimal solver first estimates a homography from three correspondences…
A minimal solution using two affine correspondences is presented to estimate the common focal length and the fundamental matrix between two semi-calibrated cameras - known intrinsic parameters except a common focal length. To the best of…
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…
This paper presents a novel calibration algorithm for plenoptic cameras, especially the multi-focus configuration, where several types of micro-lenses are used, using raw images only. Current calibration methods rely on simplified…
Two solvers are proposed for estimating the extrinsic camera parameters from a single affine correspondence assuming general planar motion. In this case, the camera movement is constrained to a plane and the image plane is orthogonal to the…
With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make…
Camera calibration is the foundation of 3D vision. Generic camera calibration can yield more accurate results than parametric cam era calibration. However, calibrating a generic camera model using printed calibration boards requires far…
In the literature, points and conics have been major features for camera geometric calibration. Although conics are more informative features than points, the loss of the conic property under distortion has critically limited the utility of…
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…