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Camera-based perception systems play a central role in modern autonomous vehicles. These camera based perception algorithms require an accurate calibration to map the real world distances to image pixels. In practice, calibration is a…
Every year we grow more dependent on wearable devices to gather personalized data, such as our movements, heart rate, respiration, etc. To capture this data, devices contain sensors, such as accelerometers and gyroscopes, that are able to…
Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…
Calibration is a vital step in the development of rigorous digital models of diverse physical and chemical processes, yet one which is highly time- and labour-intensive. In this paper, we introduce a novel tool, Autonomous Calibration and…
Fusion of heterogeneous extroceptive sensors is the most effient and effective way to representing the environment precisely, as it overcomes various defects of each homogeneous sensor. The rigid transformation (aka. extrinsic parameters)…
When a humanoid robot performs a manipulation task, it first makes a model of the world using its visual sensors and then plans the motion of its body in this model. For this, precise calibration of the camera parameters and the kinematic…
Despite an emerging interest in MIMO radar, the utilization of its complementary strengths in combination with optical depth sensors has so far been limited to far-field applications, due to the challenges that arise from mutual sensor…
Properly-calibrated sensors are the prerequisite for a dependable autonomous driving system. However, most prior methods focus on extrinsic calibration between sensors, and few focus on the misalignment between the sensors and the vehicle…
We present a novel scalable, fully distributed, and online method for simultaneous localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot poses are probabilistically inferred as robots sense each…
Advances in autonomous driving are inseparable from sensor fusion. Heterogeneous sensors are widely used for sensor fusion due to their complementary properties, with radar and camera being the most equipped sensors. Intrinsic and extrinsic…
Chemical multisensor devices need calibration algorithms to estimate gas concentrations. Their possible adoption as indicative air quality measurements devices poses new challenges due to the need to operate in continuous monitoring modes…
A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…
Smartphones have ubiquitously integrated into our home and work environments, however, users normally rely on explicit but inefficient identification processes in a controlled environment. Therefore, when a device is stolen, a thief can…
Low-cost micro-electromechanical accelerometers are widely used in navigation, robotics, and consumer devices for motion sensing and position estimation. However, their performance is often degraded by bias errors. To eliminate…
Gyroscopes are inertial sensors that measure the angular velocity of the platforms to which they are attached. To estimate the gyroscope deterministic error terms prior mission start, a calibration procedure is performed. When considering…
Research in mobile robotics often demands platforms that have an adequate balance between cost and reliability. In the case of terrestrial robots, one of the available options is the GNBot, an open-hardware project intended for the…
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highly accurate calibration between them. In this paper, we…
We present a novel, automatic eye gaze tracking scheme inspired by smooth pursuit eye motion while playing mobile games or watching virtual reality contents. Our algorithm continuously calibrates an eye tracking system for a head mounted…
Accurate camera-to-lidar calibration is a requirement for sensor data fusion in many 3D perception tasks. In this paper, we present SceneCalib, a novel method for simultaneous self-calibration of extrinsic and intrinsic parameters in a…
Low-power chemical sensors deployed on mobile platforms make it possible to monitor pollutant concentrations across large urban areas. However, chemical sensors are prone to drift (e.g., aging, damage, poisoning) and have to be calibrated…