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Visual-LiDAR odometry is a critical component for autonomous system localization, yet achieving high accuracy and strong robustness remains a challenge. Traditional approaches commonly struggle with sensor misalignment, fail to fully…
We propose an easy-to-use non-overlapping camera calibration method. First, successive images are fed to a PoseNet-based network to obtain ego-motion of cameras between frames. Next, the pose between cameras are estimated. Instead of using…
Sensor-based environmental perception is a crucial step for autonomous driving systems, for which an accurate calibration between multiple sensors plays a critical role. For the calibration of LiDAR and camera, the existing method is…
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…
In this paper, we propose a novel laser-inertial odometry and mapping method to achieve real-time, low-drift and robust pose estimation in large-scale highway environments. The proposed method is mainly composed of four sequential modules,…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
Accurate estimation of stereo camera extrinsic parameters is the key to guarantee the performance of stereo matching algorithms. In prior arts, the online self-calibration of stereo cameras has commonly been formulated as a specialized…
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…
Existing multi-camera solutions for automatic scorekeeping in steel-tip darts are very expensive and thus inaccessible to most players. Motivated to develop a more accessible low-cost solution, we present a new approach to keypoint…
Over the past decades, a tremendous amount of work has addressed the topic of ego-motion estimation of moving platforms based on various proprioceptive and exteroceptive sensors. At the cost of ever-increasing computational load and sensor…
The traditional kinematic calibration method for manipulators requires precise three-dimensional measuring instruments to measure the end pose, which is not only expensive due to the high cost of the measuring instruments but also not…
It is well known that the accuracy of a calibration depends strongly on the choice of camera poses from which images of a calibration object are acquired. We present a system -- Calibration Wizard -- that interactively guides a user towards…
We propose a 6D RGB-D odometry approach that finds the relative camera pose between consecutive RGB-D frames by keypoint extraction and feature matching both on the RGB and depth image planes. Furthermore, we feed the estimated pose to the…
A common prerequisite for evaluating a visual(-inertial) odometry (VO/VIO) algorithm is to align the timestamps and the reference frame of its estimated trajectory with a reference ground-truth derived from a system of superior precision,…
We propose an algorithm for automatic, targetless, extrinsic calibration of a LiDAR and camera system using semantic information. We achieve this goal by maximizing mutual information (MI) of semantic information between sensors, leveraging…
External effects such as shocks and temperature variations affect the calibration of visual-inertial sensor systems and thus they cannot fully rely on factory calibrations. Re-calibrations performed on short user-collected datasets might…
In this paper, we present PTZ-Calib, a robust two-stage PTZ camera calibration method, that efficiently and accurately estimates camera parameters for arbitrary viewpoints. Our method includes an offline and an online stage. In the offline…
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,…
Despite the extensive demonstration of robotic systems for both cataract and vitreoretinal procedures, existing technologies or mechanisms still possess insufficient accuracy, precision, and degrees of freedom for instrument manipulation or…
Feature-based visual structure and motion reconstruction pipelines, common in visual odometry and large-scale reconstruction from photos, use the location of corresponding features in different images to determine the 3D structure of the…