Related papers: A Two-step Calibration Method for Unfocused Light …
Most sensor setups for onboard autonomous perception are composed of LiDARs and vision systems, as they provide complementary information that improves the reliability of the different algorithms necessary to obtain a robust scene…
Camera calibration for estimating the intrinsic parameters and lens distortion is a prerequisite for various monocular vision applications including feature tracking and video stabilization. This application paper proposes a model for…
Camera calibration plays a critical role in various computer vision tasks such as autonomous driving or augmented reality. Widely used camera calibration tools utilize plane pattern based methodology, such as using a chessboard or AprilTag…
Visual perception is regularly used by humans and robots for navigation. By either implicitly or explicitly mapping the environment, ego-motion can be determined and a path of actions can be planned. The process of mapping and navigation…
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…
The optics of any camera degrades the sharpness of photographs, which is a key visual quality criterion. This degradation is characterized by the point-spread function (PSF), which depends on the wavelengths of light and is variable across…
While an exciting diversity of new imaging devices is emerging that could dramatically improve robotic perception, the challenges of calibrating and interpreting these cameras have limited their uptake in the robotics community. In this…
Fourier ptychographic microscopy (FPM) can achieve quantitative phase imaging with a large space-bandwidth product by synthesizing a set of low-resolution intensity images captured under angularly varying illuminations. Determining accurate…
Robots often rely on RGB images for tasks like manipulation and navigation. However, reliable interaction typically requires a 3D scene representation that is metric-scaled and aligned with the robot reference frame. This depends on…
We examine 3D reconstruction of architectural scenes in unordered sets of uncalibrated images. We introduce a linear method to self-calibrate and find the metric reconstruction of a camera pair. We assume unknown and different focal lengths…
In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…
Collaborative robotic industrial cells are workspaces where robots collaborate with human operators. In this context, safety is paramount, and for that a complete perception of the space where the collaborative robot is inserted is…
Relative colour constancy is an essential requirement for many scientific imaging applications. However, most digital cameras differ in their image formations and native sensor output is usually inaccessible, e.g., in smartphone camera…
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…
Connecting multiple machine learning models into a pipeline is effective for handling complex problems. By breaking down the problem into steps, each tackled by a specific component model of the pipeline, the overall solution can be made…
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…
Accurate LiDAR-camera calibration is crucial for multi-sensor systems. However, traditional methods often rely on physical targets, which are impractical for real-world deployment. Moreover, even carefully calibrated extrinsics can degrade…
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 paper we perform an experimental comparison of three different target based 3D-LIDAR camera calibration algorithms. We briefly elucidate the mathematical background behind each method and provide insights into practical aspects like…
The internal calibration of a pinhole camera is given by five parameters that are combined into an upper-triangular $3\times 3$ calibration matrix. If the skew parameter is zero and the aspect ratio is equal to one, then the camera is said…