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This paper describes CALICO, a method for multi-camera calibration suitable for challenging contexts: stationary and mobile multi-camera systems, cameras without overlapping fields of view, and non-synchronized cameras. Recent approaches…
This paper contributes a novel realtime multi-person motion capture algorithm using multiview video inputs. Due to the heavy occlusions in each view, joint optimization on the multiview images and multiple temporal frames is indispensable,…
Recent image enhancement methods have shown the advantages of using a pair of long and short-exposure images for low-light photography. These image modalities offer complementary strengths and weaknesses. The former yields an image that is…
Visual SLAM shows significant progress in recent years due to high attention from vision community but still, challenges remain for low-textured environments. Feature based visual SLAMs do not produce reliable camera and structure estimates…
Unsupervised change detection techniques are generally constrained to two multi-band optical images acquired at different times through sensors sharing the same spatial and spectral resolution. This scenario is suitable for a straight…
A local Bundle Adjustment (BA) on a sliding window of keyframes has been widely used in visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA method is hardly used because the sparse feature points (e.g.,…
Adding more cameras to SLAM systems improves robustness and accuracy but complicates the design of the visual front-end significantly. Thus, most systems in the literature are tailored for specific camera configurations. In this work, we…
LiDAR and cameras are two complementary sensors for 3D perception in autonomous driving. LiDAR point clouds have accurate spatial and geometry information, while RGB images provide textural and color data for context reasoning. To exploit…
Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…
Extrapolating fine-grained pixel-level correspondences in a fully unsupervised manner from a large set of misaligned images can benefit several computer vision and graphics problems, e.g. co-segmentation, super-resolution, image edit…
Hand-eye calibration is the problem of estimating the spatial transformation between a reference frame, usually the base of a robot arm or its gripper, and the reference frame of one or multiple cameras. Generally, this calibration is…
Recent advances in structure-from-motion techniques are enabling many scientific fields to benefit from the routine creation of detailed 3D models. However, for a large number of applications, only a single camera is available, due to cost…
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…
Motivated by the theoretical interest in reconstructing long 3D trajectories of individual birds in large flocks, we developed CoMo, a co-moving camera system of two synchronized high speed cameras coupled with rotational stages, which…
Recently, multi-sensors fusion has achieved significant progress in the field of automobility to improve navigation and position performance. As the prerequisite of the fusion algorithm, the demand for the extrinsic calibration of…
Visual perception is regularly used by humans and robots for navigation. By either implicitly or explicitly mapping the environment, ego-motion can be determined and a path of actions can be planned. The process of mapping and navigation…
Reconstructing dynamic 3D scenes from monocular video has broad applications in AR/VR, robotics, and autonomous navigation, but often fails due to severe motion blur caused by camera and object motion. Existing methods commonly follow a…
Modern camera pipelines apply extensive on-device processing, such as exposure adjustment, white balance, and color correction, which, while beneficial individually, often introduce photometric inconsistencies across views. These appearance…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Fusing data from cameras and LiDAR sensors is an essential technique to achieve robust 3D object detection. One key challenge in camera-LiDAR fusion involves mitigating the large domain gap between the two sensors in terms of coordinates…