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In this work, we propose a camera self-calibration algorithm for generic cameras with arbitrary non-linear distortions. We jointly learn the geometry of the scene and the accurate camera parameters without any calibration objects. Our…
Self-calibration of camera intrinsics and radial distortion has a long history of research in the computer vision community. However, it remains rare to see real applications of such techniques to modern Simultaneous Localization And…
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…
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…
Motivated by the increasing application of low-resolution LiDAR recently, we target the problem of low-resolution LiDAR-camera calibration in this work. The main challenges are two-fold: sparsity and noise in point clouds. To address the…
We present a lightweight solution to recover 3D pose from multi-view images captured with spatially calibrated cameras. Building upon recent advances in interpretable representation learning, we exploit 3D geometry to fuse input images into…
Shuffled linear regression (SLR) seeks to estimate latent features through a linear transformation, complicated by unknown permutations in the measurement dimensions. This problem extends traditional least-squares (LS) and Least Absolute…
The commonly used radial distortion model for camera calibration is in fact an assumption or a restriction. In practice, camera distortion could happen in a general geometrical manner that is not limited to the radial sense. This paper…
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…
Light field cameras capture the 3D information in a scene with a single exposure. This special feature makes light field cameras very appealing for a variety of applications: from post-capture refocus, to depth estimation and image-based…
Many studies have been conducted so far on image restoration, the problem of restoring a clean image from its distorted version. There are many different types of distortion which affect image quality. Previous studies have focused on…
This paper presents a novel visual-LiDAR odometry and mapping method with low-drift characteristics. The proposed method is based on two popular approaches, ORB-SLAM and A-LOAM, with monocular scale correction and visual-bootstrapped LiDAR…
Unified image restoration is a significantly challenging task in low-level vision. Existing methods either make tailored designs for specific tasks, limiting their generalizability across various types of degradation, or rely on training…
This paper presents an open source LiDAR-camera calibration toolbox that is general to LiDAR and camera projection models, requires only one pairing of LiDAR and camera data without a calibration target, and is fully automatic. For…
We propose two novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first class of solvers, the sought plane is…
With the development of autonomous driving technology, sensor calibration has become a key technology to achieve accurate perception fusion and localization. Accurate calibration of the sensors ensures that each sensor can function properly…
Due to limited size and imperfect of the optical components in a spectrometer, aberration has inevitably been brought into two-dimensional multi-fiber spectrum image in LAMOST, which leads to obvious spacial variation of the point spread…
Circular targets are widely used in LiDAR-camera extrinsic calibration due to their geometric consistency and ease of detection. However, achieving accurate 3D-2D circular center correspondence remains challenging. Existing methods often…
Large electron microscopy image datasets for connectomics are typically composed of thousands to millions of partially overlapping two-dimensional images (tiles), which must be registered into a coherent volume prior to further analysis. A…
Image editing and compositing have become ubiquitous in entertainment, from digital art to AR and VR experiences. To produce beautiful composites, the camera needs to be geometrically calibrated, which can be tedious and requires a physical…