Related papers: A sensor-to-pattern calibration framework for mult…
Accurate extrinsic calibration between LiDAR and camera sensors is important for reliable perception in autonomous systems. In this paper, we present a novel multi-objective optimization framework that jointly minimizes the geometric…
Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…
We present a novel target-based lidar-camera extrinsic calibration methodology that can be used for non-overlapping field of view (FOV) sensors. Contrary to previous work, our methodology overcomes the non-overlapping FOV challenge using a…
Camera calibration is a crucial technique which significantly influences the performance of many robotic systems. Robustness and high precision have always been the pursuit of diverse calibration methods. State-of-the-art calibration…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate relationships between the corresponding reference frames. For wheeled robots equipped with camera/lidar along…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. This paper introduces a novel camera calibration method using a designed collimator system. Our collimator system provides a reliable and controllable…
Advanced autonomous systems rely on multi-sensor fusion for safer and more robust perception. To enable effective fusion, calibrating directly from natural driving scenes (i.e., target-free) with high accuracy is crucial for precise…
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…
Camera calibration is an essential first step in setting up 3D Computer Vision systems. Commonly used parametric camera models are limited to a few degrees of freedom and thus often do not optimally fit to complex real lens distortion. In…
Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a novel LiDAR-IMU calibration method within the continuous-time…
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe…
Manufacturing requires reliable object detection methods for precise picking and handling of diverse types of manufacturing parts and components. Traditional object detection methods utilize either only 2D images from cameras or 3D data…
Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…
Extrinsic Calibration represents the cornerstone of autonomous driving. Its accuracy plays a crucial role in the perception pipeline, as any errors can have implications for the safety of the vehicle. Modern sensor systems collect different…
The development of sensitive large format imaging arrays for the infrared promises to provide revolutionary capabilities for space astronomy. For example, the Infrared Array Camera (IRAC) on SIRTF will use four 256 x 256 arrays to provide…
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…
Advances in sensing and learning algorithms have led to increasingly mature solutions for human detection by robots, particularly in selected use-cases such as pedestrian detection for self-driving cars or close-range person detection in…
This paper presents a comprehensive framework to enhance Human-Robot Collaboration (HRC) in real-world scenarios. It introduces a formalism to model articulated tasks, requiring cooperation between two agents, through a smaller set of…
Millimeter-wave (mmWave) Radar--Camera fusion improves perception under adverse illumination and weather, but its performance is sensitive to Radar--Camera extrinsic calibration: residual misalignment biases Radar-to-image projection and…
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…