Related papers: Joint Camera Intrinsic and LiDAR-Camera Extrinsic …
Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…
While camera and LiDAR are widely used in most of the assisted and autonomous driving systems, only a few works have been proposed to associate the temporal synchronization and extrinsic calibration for camera and LiDAR which are dedicated…
The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…
Camera-based perception systems play a central role in modern autonomous vehicles. These camera based perception algorithms require an accurate calibration to map the real world distances to image pixels. In practice, calibration is a…
This paper presents a method for extrinsic camera calibration (estimation of camera rotation and translation matrices) from a sequence of images. It is assumed camera intrinsic matrix and distortion coefficients are known and fixed during…
This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…
Recently, it has become popular to deploy sensors such as LiDARs on the roadside to monitor the passing traffic and assist autonomous vehicle perception. Unlike autonomous vehicle systems, roadside sensors are usually affiliated with…
Calibration of multi-camera systems is a key task for accurate object tracking. However, it remains a challenging problem in real-world conditions, where traditional methods are not applicable due to the lack of accurate floor plans,…
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…
The integrated inertial system, typically integrating an IMU and an exteroceptive sensor such as radar, LiDAR, and camera, has been widely accepted and applied in modern robotic applications for ego-motion estimation, motion control, or…
This letter proposes an extrinsic calibration approach for a pair of monocular camera and prism-spinning solid-state LiDAR. The unique characteristics of the point cloud measured resulting from the flower-like scanning pattern is first…
Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…
In this paper, we propose a novel online self-calibration approach for Light Detection and Ranging (LiDAR) and camera sensors. Compared to the previous CNN-based methods that concatenate the feature maps of the RGB image and decalibrated…
Conventional multi-projector calibration requires projecting and capturing structured light patterns for each projector sequentially, causing calibration time and effort to increase linearly with the number of projectors. This scalability…
LiDAR-camera extrinsic calibration (LCEC) is crucial for data fusion in intelligent vehicles. Offline, target-based approaches have long been the preferred choice in this field. However, they often demonstrate poor adaptability to…
The bio-inspired event camera has garnered extensive research attention in recent years, owing to its significant potential derived from its high dynamic range and low latency characteristics. Similar to the standard camera, the event…
Acoustic cameras have found many applications in practice. Accurate and reliable extrinsic calibration of the microphone array and visual sensors within acoustic cameras is crucial for fusing visual and auditory measurements. Existing…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…
Camera calibration plays a critical role in various computer vision tasks such as autonomous driving or augmented reality. Widely used camera calibration tools utilize plane pattern based methodology, such as using a chessboard or AprilTag…
Properly-calibrated sensors are the prerequisite for a dependable autonomous driving system. However, most prior methods focus on extrinsic calibration between sensors, and few focus on the misalignment between the sensors and the vehicle…