Related papers: On Universal Sensor Registration

Existence of symmetric objects, whose observation at different viewpoints can be identical, can deteriorate the performance of simultaneous localization and mapping(SLAM). This work proposes a system for robustly optimizing the pose of…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

In this paper we introduce a fully end-to-end approach for multi-spectral image registration and fusion. Our method for fusion combines images from different spectral channels into a single fused image by different approaches for low and…

Given a continuous sensor field, we can apply the Euler characteristic integral approach to count the number of targets in the sensor field. If the sensor field is discrete, the Euler integral approach introduces errors into our target…

In multi-sensor data fusion (or sensor fusion), sensor biases (or offsets) often affect the accuracy of the correlation and integration results of the tracking targets. Therefore, to estimate and compensate the bias, several methods are…

Point tracking is a fundamental problem in computer vision with numerous applications in AR and robotics. A common failure mode in long-term point tracking occurs when the predicted point leaves the object it belongs to and lands on the…

This paper presents an exact Bayesian filtering solution for the multi-object tracking problem with the generic observation model. The proposed solution is designed in the labeled random finite set framework, using the product styled…

3-D image registration, which involves aligning two or more images, is a critical step in a variety of medical applications from diagnosis to therapy. Image registration is commonly performed by optimizing an image matching metric as a cost…

Many types of 3D acquisition sensors have emerged in recent years and point cloud has been widely used in many areas. Accurate and fast registration of cross-source 3D point clouds from different sensors is an emerged research problem in…

In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…

This paper focuses on pose registration of different object instances from the same category. This is required in online object mapping because object instances detected at test time usually differ from the training instances. Our approach…

We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures.…

Object triangulation, 3-D object tracking, feature correspondence, and camera calibration are key problems for estimation from camera networks. This paper addresses these problems within a unified Bayesian framework for joint multi-object…

This paper proposes an efficient implementation of the multi-sensor generalized labeled multi-Bernoulli (GLMB) filter. The solution exploits the GLMB joint prediction and update together with a new technique for truncating the GLMB…

Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…

Registration of 3D point clouds is a fundamental task in several applications of robotics and computer vision. While registration methods such as iterative closest point and variants are very popular, they are only locally optimal. There…

The present work proposes a solution to the challenging problem of registering two partial point sets of the same object with very limited overlap. We leverage the fact that most objects found in man-made environments contain a plane of…

Many parallel and distributed computing research results are obtained in simulation, using simulators that mimic real-world executions on some target system. Each such simulator is configured by picking values for parameters that define the…

Augmented Reality (AR) brings immersive experiences to users. With recent advances in computer vision and mobile computing, AR has scaled across platforms, and has increased adoption in major products. One of the key challenges in enabling…

This paper proposes a global approach for the multi-view registration of unordered range scans. As the basis of multi-view registration, pair-wise registration is very pivotal. Therefore, we first select a good descriptor and accelerate its…