Related papers: Extrinsic calibration for highly accurate trajecto…
This work presents an extrinsic parameter estimation algorithm between a 3D LIDAR and a Projective Camera using a marker-less planar target, by exploiting Planar Surface Point to Plane and Planar Edge Point to back-projected Plane geometric…
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…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
The integration of sensor data is crucial in the field of robotics to take full advantage of the various sensors employed. One critical aspect of this integration is determining the extrinsic calibration parameters, such as the relative…
Can freely moving humans or animals themselves serve as calibration targets for multi-camera systems while simultaneously estimating their correspondences across views? We humans can solve this problem by mentally rotating the observed 2D…
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
Image retrieval-based cross-view localization methods often lead to very coarse camera pose estimation, due to the limited sampling density of the database satellite images. In this paper, we propose a method to increase the accuracy of a…
Surround-view system (SVS) is widely used in the Advanced Driver Assistance System (ADAS). SVS uses four fisheye lenses to monitor real-time scenes around the vehicle. However, accurate intrinsic and extrinsic parameter estimation is…
In autonomous systems, sensor calibration is essential for safe and efficient navigation in dynamic environments. Accurate calibration is a prerequisite for reliable perception and planning tasks such as object detection and obstacle…
This paper proposes a new extrinsic calibration of kaleidoscopic imaging system by estimating normals and distances of the mirrors. The problem to be solved in this paper is a simultaneous estimation of all mirror parameters consistent…
Extrinsic manipulation, the use of environment contacts to achieve manipulation objectives, enables strategies that are otherwise impossible with a parallel jaw gripper. However, orchestrating a long-horizon sequence of contact interactions…
We present a robot kinematic calibration method that combines complementary calibration approaches: self-contact, planar constraints, and self-observation. We analyze the estimation of the end effector parameters, joint offsets of the…
Natural language-based robotic navigation remains a challenging problem due to the human knowledge of navigation constraints, and destination is not directly compatible with the robot knowledge base. In this paper, we aim to translate…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
Multi-camera systems are widely employed in sports to capture the 3D motion of athletes and equipment, yet calibrating their extrinsic parameters remains costly and labor-intensive. We introduce an efficient, tool-free method for…
Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However,…
Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need…
In multimodal perception systems, achieving precise extrinsic calibration between LiDAR and camera is of critical importance. Previous calibration methods often required specific targets or manual adjustments, making them both…
Modern autonomous systems typically use several sensors for perception. For best performance, accurate and reliable extrinsic calibration is necessary. In this research, we propose a reliable technique for the extrinsic calibration of…