Related papers: Automatic LiDAR Extrinsic Calibration System using…
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…
4D radar has emerged as a critical sensor for autonomous driving, primarily due to its enhanced capabilities in elevation measurement and higher resolution compared to traditional 3D radar. Effective integration of 4D radar with cameras…
Many robotics and mapping systems contain multiple sensors to perceive the environment. Extrinsic parameter calibration, the identification of the position and rotation transform between the frames of the different sensors, is critical to…
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standard AV sensor suite (i.e., lidars, cameras) with weather…
Accurate extrinsic calibration between LiDAR and camera sensors is important for reliable perception in autonomous systems. In this paper, we present a novel multi-objective optimization framework that jointly minimizes the geometric…
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…
This paper presents a framework for the targetless extrinsic calibration of stereo cameras and Light Detection and Ranging (LiDAR) sensors with a non-overlapping Field of View (FOV). In order to solve the extrinsic calibrations problem…
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…
Monocular camera sensors are vital to intelligent vehicle operation and automated driving assistance and are also heavily employed in traffic control infrastructure. Calibrating the monocular camera, though, is time-consuming and often…
Accurate camera-LiDAR calibration is a prerequisite for robust multi-modal perception in robotics. Recent target-less approaches based on deep point correspondences achieve remarkable performance for extrinsic calibration but assume…
4D imaging radar is a type of low-cost millimeter-wave radar(costing merely 10-20$\%$ of lidar systems) capable of providing range, azimuth, elevation, and Doppler velocity information. Accurate extrinsic calibration between millimeter-wave…
Laser line scanners are increasingly being used in the subsea industry for high-resolution mapping and infrastructure inspection. However, calibrating the 3D pose of the scanner relative to the vehicle is a perennial source of confusion and…
Multi-LiDAR systems have been prevalently applied in modern autonomous vehicles to render a broad view of the environments. The rapid development of 5G wireless technologies has brought a breakthrough for current cellular…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
The accurate and robust calibration result of sensors is considered as an important building block to the follow-up research in the autonomous driving and robotics domain. The current works involving extrinsic calibration between 3D LiDARs…
Multi-agent systems, e.g., automobiles and UAVs (Unmanned Ariel Vehicles), rely on the precision of onboard sensors to accurately perceive their environment, which in turn depends on the precision of onboard sensors and reliable in-field…
We present a novel method for extrinsically calibrating a camera and a 2D Laser Rangefinder (LRF) whose beams are invisible from the camera image. We show that point-to-plane constraints from a single observation of a V-shaped calibration…
Autonomous vehicles are equipped with a multi-modal sensor setup to enable the car to drive safely. The initial calibration of such perception sensors is a highly matured topic and is routinely done in an automated factory environment.…
Recently, the rapid development of Solid-State LiDAR (SSL) enables low-cost and efficient obtainment of 3D point clouds from the environment, which has inspired a large quantity of studies and applications. However, the non-uniformity of…
Cameras and LiDAR are essential sensors for autonomous vehicles. The fusion of camera and LiDAR data addresses the limitations of individual sensors but relies on precise extrinsic calibration. Recently, numerous end-to-end calibration…