Related papers: LCE-Calib: Automatic LiDAR-Frame/Event Camera Extr…
This paper presents a novel spherical target-based LiDAR-camera extrinsic calibration method designed for outdoor environments with multi-robot systems, considering both target and sensor corruption. The method extracts the 2D ellipse…
There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…
We present a solution to the problem of spatio-temporal calibration for event cameras mounted on an onmi-directional vehicle. Different from traditional methods that typically determine the camera's pose with respect to the vehicle's body…
Acoustic cameras have found many applications in practice. Accurate and reliable extrinsic calibration of the microphone array and visual sensors within acoustic cameras is crucial for fusing visual and auditory measurements. Existing…
Sensor fusion has become a popular topic in robotics. However, conventional fusion methods encounter many difficulties, such as data representation differences, sensor variations, and extrinsic calibration. For example, the calibration…
The bioinspired event camera, distinguished by its exceptional temporal resolution, high dynamic range, and low power consumption, has been extensively studied in recent years for motion estimation, robotic perception, and object detection.…
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…
Event cameras are bio-inspired sensors with some notable features, including high dynamic range and low latency, which makes them exceptionally suitable for perception in challenging scenarios such as high-speed motion and extreme lighting…
The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera…
Circular targets are widely used in LiDAR-camera extrinsic calibration due to their geometric consistency and ease of detection. However, achieving accurate 3D-2D circular center correspondence remains challenging. Existing methods often…
This paper presents a method for extrinsic camera calibration (estimation of camera rotation and translation matrices) from a sequence of images. It is assumed camera intrinsic matrix and distortion coefficients are known and fixed during…
Estimating camera intrinsic parameters without prior scene knowledge is a fundamental challenge in computer vision. This capability is particularly important for applications such as autonomous driving and vehicle platooning, where…
While camera and LiDAR are widely used in most of the assisted and autonomous driving systems, only a few works have been proposed to associate the temporal synchronization and extrinsic calibration for camera and LiDAR which are dedicated…
State-of-the-art LiDAR calibration frameworks mainly use non-probabilistic registration methods such as Iterative Closest Point (ICP) and its variants. These methods suffer from biased results due to their pair-wise registration procedure…
Recently, the rapid development of Solid-State LiDAR (SSL) enables low-cost and efficient obtainment of 3D point clouds from the environment, which has inspired a large quantity of studies and applications. However, the non-uniformity of…
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…
In many fields of robotics, knowing the relative position and orientation between two sensors is a mandatory precondition to operate with multiple sensing modalities. In this context, the pair LiDAR-RGB cameras offer complementary features:…
The fusion of multi-modal sensors has become increasingly popular in autonomous driving and intelligent robots since it can provide richer information than any single sensor, enhance reliability in complex environments. Multi-sensor…
LiDAR-camera fusion is one of the core processes for the perception system of current automated driving systems. The typical sensor fusion process includes a list of coordinate transformation operations following system calibration.…
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…