Related papers: Camera Calibration through Camera Projection Loss
This article presents an innovative study in exploring, evaluating, and implementing deep learning architectures for the calibration of multi-modal sensor systems. The focus behind this is to leverage the use of sensor fusion to achieve…
Robots often rely on RGB images for tasks like manipulation and navigation. However, reliable interaction typically requires a 3D scene representation that is metric-scaled and aligned with the robot reference frame. This depends on…
Recent works on dynamic 3D neural field reconstruction assume the input from synchronized multi-view videos whose poses are known. The input constraints are often not satisfied in real-world setups, making the approach impractical. We show…
3D sensing for monocular in-the-wild images, e.g., depth estimation and 3D object detection, has become increasingly important. However, the unknown intrinsic parameter hinders their development and deployment. Previous methods for the…
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…
Color-depth cameras (RGB-D cameras) have become the primary sensors in most robotics systems, from service robotics to industrial robotics applications. Typical consumer-grade RGB-D cameras are provided with a coarse intrinsic and extrinsic…
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…
3D localization in Multimodal Large Language Models (MLLMs), including 3D object detection and 3D visual grounding, is fundamentally limited by camera intrinsic ambiguity: the same image admits different 3D scenes under different cameras.…
Time-of-flight cameras provide depth information, which is complementary to the photometric appearance of the scene in ordinary images. It is desirable to merge the depth and colour information, in order to obtain a coherent scene…
With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make…
Dynamic multi-person mesh recovery has broad applications in sports broadcasting, virtual reality, and video games. However, current multi-view frameworks rely on a time-consuming camera calibration procedure. In this work, we focus on…
The class-wise training losses often diverge as a result of the various levels of intra-class and inter-class appearance variation, and we find that the diverging class-wise training losses cause the uncalibrated prediction with its…
Perceiving 3D information is of paramount importance in many applications of computer vision. Recent advances in monocular depth estimation have shown that gaining such knowledge from a single camera input is possible by training deep…
Accurate camera-to-lidar calibration is a requirement for sensor data fusion in many 3D perception tasks. In this paper, we present SceneCalib, a novel method for simultaneous self-calibration of extrinsic and intrinsic parameters in a…
Nonlinear lens distortion rectification is a common first step in image processing applications where the assumption of a linear camera model is essential. For rectifying the lens distortion, forward distortion model needs to be known.…
Offline camera calibration techniques typically employ parametric or generic camera models. Selecting parametric models relies heavily on user experience, and an inappropriate camera model can significantly affect calibration accuracy.…
Reliable uncertainty estimation is critical for deploying neural networks (NNs) in real-world applications. While existing calibration techniques often rely on post-hoc adjustments or coarse-grained binning methods, they remain limited in…
The goal of extrinsic calibration is the alignment of sensor data to ensure an accurate representation of the surroundings and enable sensor fusion applications. From a safety perspective, sensor calibration is a key enabler of autonomous…
Representing visual signals with implicit coordinate-based neural networks, as an effective replacement of the traditional discrete signal representation, has gained considerable popularity in computer vision and graphics. In contrast to…
This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method leverages LiDAR point cloud measurements from planes in the…