Related papers: Observability-aware online multi-lidar extrinsic c…
We demonstrate a multi-lidar calibration framework for large mobile platforms that jointly calibrate the extrinsic parameters of non-overlapping Field-of-View (FoV) lidar sensors, without the need for any external calibration aid. The…
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…
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 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…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
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…
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…
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…
Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…
Calibration of multi-camera systems, i.e. determining the relative poses between the cameras, is a prerequisite for many tasks in computer vision and robotics. Camera calibration is typically achieved using offline methods that use…
Automated driving systems use multi-modal sensor suites to ensure the reliable, redundant and robust perception of the operating domain, for example camera and LiDAR. An accurate extrinsic calibration is required to fuse the camera and…
Today's autonomous vehicles rely on a multitude of sensors to perceive their environment. To improve the perception or create redundancy, the sensor's alignment relative to each other must be known. With Multi-LiCa, we present a novel…
Accurate extrinsic calibration between multiple LiDAR sensors and a GNSS-aided inertial navigation system (GINS) is essential for achieving reliable sensor fusion in intelligent mining environments. Such calibration enables vehicle-road…
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…
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…
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…
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…
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 goal of extrinsic calibration is the alignment of sensor data to ensure an accurate representation of the surroundings and enable sensor fusion applications. From a safety perspective, sensor calibration is a key enabler of autonomous…