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Systems for estimating the six-degrees-of-freedom human body pose have been improving for over two decades. Technologies such as motion capture cameras, advanced gaming peripherals and more recently both deep learning techniques and virtual…
Detecting 3D lanes from the camera is a rising problem for autonomous vehicles. In this task, the correct camera pose is the key to generating accurate lanes, which can transform an image from perspective-view to the top-view. With this…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a…
The paper describes a novel real-time algorithm for finding 3D geometric primitives (cylinders, cones and spheres) from 3D range data. In its core, it performs a fast model fitting with a model update in constant time (O(1)) for each new…
Calibrating sports cameras is important for autonomous broadcasting and sports analysis. Here we propose a highly automatic method for calibrating sports cameras from a single image using synthetic data. First, we develop a novel camera…
For autonomous vehicles, an accurate calibration for LiDAR and camera is a prerequisite for multi-sensor perception systems. However, existing calibration techniques require either a complicated setting with various calibration targets, or…
Accurate camera calibration is a precondition for many computer vision applications. Calibration errors, such as wrong model assumptions or imprecise parameter estimation, can deteriorate a system's overall performance, making the reliable…
Despite the increasing prevalence of rotating-style capture (e.g., surveillance cameras), conventional stereo rectification techniques frequently fail due to the rotation-dominant motion and small baseline between views. In this paper, we…
Self-diagnosis and self-repair are some of the key challenges in deploying robotic platforms for long-term real-world applications. One of the issues that can occur to a robot is miscalibration of its sensors due to aging, environmental…
Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…
In this letter, we present a novel method for automatic extrinsic calibration of high-resolution LiDARs and RGB cameras in targetless environments. Our approach does not require checkerboards but can achieve pixel-level accuracy by aligning…
Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…
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…
This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…
We develop an algorithm capable of imaging a three-dimensional object given a collection of two-dimensional images of that object that are significantly influenced by the curvature of the Ewald sphere. These two-dimensional images cannot be…
Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…
We present a derivation for estimating the roll and pitch orientation of a partially calibrated camera mounted above a planar surface, using minimal scene information. Specifically, we assume known intrinsic parameters and a fixed height…
3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…