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Camera calibration is a crucial step in photogrammetry and 3D vision applications. This paper introduces a novel camera calibration method using a designed collimator system. Our collimator system provides a reliable and controllable…
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…
This manuscript provides a new framework for calibration of optical instruments, in particular mobile cameras, using large-scale circular black and white target fields. New methods were introduced for (i) matching targets between images;…
Calibration of sensors is a major challenge especially in inexpensive sensors and sensors installed in inaccessible locations. The feasibility of calibrating sensors without the need for a standard sensor is called blind calibration. There…
As positioning solutions integrate multiple components to improve accuracy, the number of parameters that require calibration has increased. This paper studies a calibration-free positioning technique using Wi-Fi ranging and pedestrian dead…
Energy meters need to be calibrated for use in Measurement and Verification (M&V) projects. However, calibration can be prohibitively expensive and affect project feasibility negatively. This study presents a novel low-cost in-situ meter…
In this work we present a practical algorithm for calibrating a magnetometer for the presence of magnetic disturbances and for magnetometer sensor errors. To allow for combining the magnetometer measurements with inertial measurements for…
Today's autonomous vehicles rely on a multitude of sensors to perceive their environment. To improve the perception or create redundancy, the sensor's alignment relative to each other must be known. With Multi-LiCa, we present a novel…
Estimating human body measurements from monocular RGB imagery remains challenging due to scale ambiguity, viewpoint sensitivity, and the absence of explicit depth information. This work presents a systematic empirical study of three weakly…
Visual-Inertial (VI) sensors are popular in robotics, self-driving vehicles, and augmented and virtual reality applications. In order to use them for any computer vision or state-estimation task, a good calibration is essential. However,…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
The integrated inertial system, typically integrating an IMU and an exteroceptive sensor such as radar, LiDAR, and camera, has been widely accepted and applied in modern robotic applications for ego-motion estimation, motion control, or…
Event cameras generate asynchronous signals in response to pixel-level brightness changes, offering a sensing paradigm with theoretically microsecond-scale latency that can significantly enhance the performance of multi-sensor systems.…
The calibration of sensors comprising inertial measurement units is crucial for reliable and accurate navigation. Such calibration is usually performed with specialized expensive rotary tables or requires sophisticated signal processing…
Gravimeters are devices which measure changes in the value of the gravitational acceleration, \textit{g}. This information is used to infer changes in density under the ground allowing the detection of subsurface voids; mineral, oil and gas…
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…
While on-body device-based human motion estimation is crucial for applications such as XR interaction, existing methods often suffer from poor wearability, expensive hardware, and cumbersome calibration, which hinder their adoption in daily…
Low-cost gyroscope calibration is essential for ensuring the accuracy and reliability of gyroscope measurements. Stationary calibration estimates the deterministic parts of measurement errors. To this end, a common practice is to average…
Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…
We introduce a system and methods for the three-dimensional measurement of extended specular surfaces with high surface normal variations. Our system consists only of a mobile hand held device and exploits screen and front camera for…