Related papers: Efficient Extrinsic Calibration of Multi-Sensor 3D…
Accurate and reliable sensor calibration is critical for fusing LiDAR and inertial measurements in autonomous driving. This paper proposes a novel three-stage extrinsic calibration method between LiDAR and GNSS/INS for autonomous driving.…
Most sensor setups for onboard autonomous perception are composed of LiDARs and vision systems, as they provide complementary information that improves the reliability of the different algorithms necessary to obtain a robust scene…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make…
Mobile robots equipped with multiple light detection and ranging (LiDARs) and capable of recognizing their surroundings are increasing due to the minitualization and cost reduction of LiDAR. This paper proposes a target-less extrinsic…
LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…
Monocular camera sensors are vital to intelligent vehicle operation and automated driving assistance and are also heavily employed in traffic control infrastructure. Calibrating the monocular camera, though, is time-consuming and often…
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…
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…
The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…
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…
Sensor-based environmental perception is a crucial step for autonomous driving systems, for which an accurate calibration between multiple sensors plays a critical role. For the calibration of LiDAR and camera, the existing method is…
With the rapid development of autonomous driving and SLAM technology, the performance of autonomous systems using multimodal sensors highly relies on accurate extrinsic calibration. Addressing the need for a convenient, maintenance-friendly…
Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a…
Accurate camera-to-lidar calibration is a requirement for sensor data fusion in many 3D perception tasks. In this paper, we present SceneCalib, a novel method for simultaneous self-calibration of extrinsic and intrinsic parameters in a…
The combination of LiDARs and cameras enables a mobile robot to perceive environments with multi-modal data, becoming a key factor in achieving robust perception. Traditional frame cameras are sensitive to changing illumination conditions,…
With the development of neural networks and the increasing popularity of automatic driving, the calibration of the LiDAR and the camera has attracted more and more attention. This calibration task is multi-modal, where the rich color and…
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…
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…
Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…