Related papers: A Preliminary Study on Optimal Placement of Camera…
Multi-agent cooperative perception is an increasingly popular topic in the field of autonomous driving, where roadside LiDARs play an essential role. However, how to optimize the placement of roadside LiDARs is a crucial but often…
A common robotics sensing problem is to place sensors to robustly monitor a set of assets, where robustness is assured by requiring asset $p$ to be monitored by at least $\kappa(p)$ sensors. Given $n$ assets that must be observed by $m$…
Bayesian optimal sensor placement, in its full generality, seeks to maximize the mutual information between uncertain model parameters and the predicted data to be collected from the sensors for the purpose of performing Bayesian inference.…
As the number of installed cameras grows, so do the compute resources required to process and analyze all the images captured by these cameras. Video analytics enables new use cases, such as smart cities or autonomous driving. At the same…
Pick-and-place robots are commonly used in modern industrial manufacturing. For complex devices/parts like camera modules used in smartphones, which contain optical parts, electrical components and interfacing connectors, the placement…
We present a new insight into the systematic generation of minimal solvers in computer vision, which leads to smaller and faster solvers. Many minimal problem formulations are coupled sets of linear and polynomial equations where image…
Hand-eye calibration is the problem of estimating the spatial transformation between a reference frame, usually the base of a robot arm or its gripper, and the reference frame of one or multiple cameras. Generally, this calibration is…
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success…
Camera placement is crutial in multi-camera systems such as virtual reality, autonomous driving, and high-quality reconstruction. The camera placement challenge lies in the nonlinear nature of high-dimensional parameters and the…
Determining the position and orientation of a sensor vis-a-vis its surrounding, while simultaneously mapping the environment around that sensor or simultaneous localization and mapping is quickly becoming an important advancement in…
Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
Image Registration is the process of aligning two or more images of the same scene with reference to a particular image. The images are captured from various sensors at different times and at multiple view-points. Thus to get a better…
We present filling as a type of spatial subdivision problem similar to covering and packing. Filling addresses the optimal placement of overlapping objects lying entirely inside an arbitrary shape so as to cover the most interior volume. In…
Public cameras often have limited metadata describing their attributes. A key missing attribute is the precise location of the camera, using which it is possible to precisely pinpoint the location of events seen in the camera. In this…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
Accurate camera pose estimation result is essential for visual SLAM (VSLAM). This paper presents a novel pose correction method to improve the accuracy of the VSLAM system. Firstly, the relationship between the camera pose estimation error…
The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
Adding fiducial markers to a scene is a well-known strategy for making visual localization algorithms more robust. Traditionally, these marker locations are selected by humans who are familiar with visual localization techniques. This paper…