Related papers: Extrinsic calibration for highly accurate trajecto…
This paper presents MEMROC (Multi-Eye to Mobile RObot Calibration), a novel motion-based calibration method that simplifies the process of accurately calibrating multiple cameras relative to a mobile robot's reference frame. MEMROC utilizes…
We propose a certifiably globally optimal approach for solving the hand-eye robot-world problem supporting multiple sensors and targets at once. Further, we leverage this formulation for estimating a geo-referenced calibration of…
Automatic calibration of multi-camera systems, namely the accurate estimation of spatial extrinsic parameters, is fundamental for 3D reconstruction, panoramic perception, and multi-view data fusion. Existing methods typically rely on…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. We also employ a professional, static 3D scanner for ground truth…
The research on extrinsic calibration between Light Detection and Ranging(LiDAR) and camera are being promoted to a more accurate, automatic and generic manner. Since deep learning has been employed in calibration, the restrictions on the…
Camera calibration methods usually consist of capturing images of known calibration patterns and using the detected correspondences to optimize the parameters of the assumed camera model. A meaningful evaluation of these methods relies on…
Accurate LiDAR-Camera (LC) calibration is challenging but crucial for autonomous systems and robotics. In this paper, we propose two single-shot and target-less algorithms to estimate the calibration parameters between LiDAR and camera…
We present a novel multi-modal extrinsic calibration framework designed to simultaneously estimate the relative poses between event cameras, LiDARs, and RGB cameras, with particular focus on the challenging event camera calibration. Core of…
Perception is one of the key abilities of autonomous mobile robotic systems, which often relies on fusion of heterogeneous sensors. Although this heterogeneity presents a challenge for sensor calibration, it is also the main prospect for…
Precise collaboration in vision-based dual-arm robot systems requires accurate system calibration. Recent dual-robot calibration methods have achieved strong performance by simultaneously solving multiple coordinate transformations.…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
For a number of tasks, such as 3D reconstruction, robotic interface, autonomous driving, etc., camera calibration is essential. In this study, we present a unique method for predicting intrinsic (principal point offset and focal length) and…
This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-state LiDARs by leveraging an efficient and reliable edge…
As an essential procedure of data fusion, LiDAR-camera calibration is critical for autonomous vehicles and robot navigation. Most calibration methods rely on hand-crafted features and require significant amounts of extracted features or…
LIDAR and RADAR are two commonly used sensors in autonomous driving systems. The extrinsic calibration between the two is crucial for effective sensor fusion. The challenge arises due to the low accuracy and sparse information in RADAR…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…