Related papers: Infrastructure-based Multi-Camera Calibration usin…
Recent progress in dense SLAM has primarily targeted monocular setups, often at the expense of robustness and geometric coverage. We present MCGS-SLAM, the first purely RGB-based multi-camera SLAM system built on 3D Gaussian Splatting…
In this paper, we address extrinsic calibration for camera, lidar, and 4D radar sensors. Accurate extrinsic calibration of radar remains a challenge due to the sparsity of its data. We propose CLRNet, a novel, multi-modal end-to-end deep…
Environment perception is a key component of any autonomous system and is often based on a heterogeneous set of sensors and fusion thereof for which sensor sensor calibration plays fundamental role. It can be divided to intrinsic and…
As an essential procedure of data fusion, LiDAR-camera calibration is critical for autonomous vehicles and robot navigation. Most calibration methods rely on hand-crafted features and require significant amounts of extracted features or…
We introduce SCAR, a method for long-term auto-calibration refinement of aerial visual-inertial systems that exploits georeferenced satellite imagery as a persistent global reference. SCAR estimates both intrinsic and extrinsic parameters…
Sparse and feature SLAM methods provide robust camera pose estimation. However, they often fail to capture the level of detail required for inspection and scene awareness tasks. Conversely, dense SLAM approaches generate richer scene…
LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…
We present a physics-driven framework for accurate evaluation of discrete spectral bands using a low-cost multispectral setup built from off-the-shelf RGB cameras and narrow multi-band optical filters. The approach starts by explicitly…
We can only allow human-robot-cooperation in a common work cell if the human integrity is guaranteed. A surveillance system with multiple cameras can detect collisions without contact to the human collaborator. A failure safe system needs…
The rational camera model recently introduced in [19] provides a general methodology for studying abstract nonlinear imaging systems and their multi-view geometry. This paper builds on this framework to study "physical realizations" of…
Visual-inertial navigation systems are powerful in their ability to accurately estimate localization of mobile systems within complex environments that preclude the use of global navigation satellite systems. However, these navigation…
Over the past few decades, a significant rise of camera-based applications for traffic monitoring has occurred. Governments and local administrations are increasingly relying on the data collected from these cameras to enhance road safety…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
Spatial scene-understanding, including dense depth and ego-motion estimation, is an important problem in computer vision for autonomous vehicles and advanced driver assistance systems. Thus, it is beneficial to design perception modules…
We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…
Neural Radiance Fields (NeRF) use multi-view images for 3D scene representation, demonstrating remarkable performance. As one of the primary sources of multi-view images, multi-camera systems encounter challenges such as varying intrinsic…
Cooperative LiDAR systems integrating vehicles and road infrastructure, termed V2I calibration, exhibit substantial potential, yet their deployment encounters numerous challenges. A pivotal aspect of ensuring data accuracy and consistency…
Structure from motion using uncalibrated multi-camera systems is a challenging task. This paper proposes a bundle adjustment solution that implements a baseline constraint respecting that these cameras are static to each other. We assume…
In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this paper, we present a method to estimate the full…
Complete and textured 3D reconstruction of dynamic scenes has been facilitated by mapped RGB and depth information acquired by RGB-D cameras based multi-view systems. One of the most critical steps in such multi-view systems is to determine…