Related papers: Heterogeneous Multi-sensor Calibration based on Gr…
Despite the widespread deployment of outdoor cameras, their potential for automated analysis remains largely untapped due, in part, to calibration challenges. The absence of precise camera calibration data, including intrinsic and extrinsic…
Autonomous systems often employ multiple LiDARs to leverage the integrated advantages, enhancing perception and robustness. The most critical prerequisite under this setting is the estimating the extrinsic between each LiDAR, i.e.,…
Surveillance videos and images are used for a broad set of applications, ranging from traffic analysis to crime detection. Extrinsic camera calibration data is important for most analysis applications. However, security cameras are…
Optical motion capture (mocap) systems are widely used for ground-truth capture in AR/VR, SLAM and robotics datasets. These datasets require extrinsic calibration to align mocap coordinates to external camera frames -- a step that is…
Conflicting sensor measurements pose a huge problem for the environment representation of an autonomous robot. Therefore, in this paper, we address the self-assessment of an evidential grid map in which data from conflicting LiDAR sensor…
A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for…
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…
Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few assumptions about the structure of the sensing environment,…
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 present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…
Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…
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…
We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that…
Mobile robot positioning, mapping, and navigation systems generally employ an inertial measurement unit (IMU) to obtain the acceleration and angular velocity of the robot. However, errors in the internal and external parameters of an IMU…
Calibration is an essential prerequisite for the accurate data fusion of LiDAR and camera sensors. Traditional calibration techniques often require specific targets or suitable scenes to obtain reliable 2D-3D correspondences. To tackle the…
As neuromorphic technology is maturing, its application to robotics and autonomous vehicle systems has become an area of active research. In particular, event cameras have emerged as a compelling alternative to frame-based cameras in…
The fusion of sensor data from heterogeneous sensors is crucial for robust perception in various robotics applications that involve moving platforms, for instance, autonomous vehicle navigation. In particular, combining camera and lidar…
Autonomous robots that assist humans in day to day living tasks are becoming increasingly popular. Autonomous mobile robots operate by sensing and perceiving their surrounding environment to make accurate driving decisions. A combination of…
In many applications of autonomous mobile robots the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To benefit from all available information…
Image editing and compositing have become ubiquitous in entertainment, from digital art to AR and VR experiences. To produce beautiful composites, the camera needs to be geometrically calibrated, which can be tedious and requires a physical…