Related papers: Ca$^2$Lib: Simple and Accurate LiDAR-RGB Calibrati…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
In this paper we present CMRNet, a realtime approach based on a Convolutional Neural Network to localize an RGB image of a scene in a map built from LiDAR data. Our network is not trained in the working area, i.e. CMRNet does not learn the…
Calibrating displays is a basic and regular task that content creators must perform to maintain optimal visual experience, yet it remains a troublesome issue. Measuring display characteristics from different viewpoints often requires…
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…
In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…
Accurate sensor calibration is a prerequisite for multi-sensor perception and localization systems for autonomous vehicles. The intrinsic parameter calibration of the sensor is to obtain the mapping relationship inside the sensor, and the…
In this paper we present a new camera calibration method aimed at finding a straight-line locus, in a special colour feature space, that is traversed by daylights and as well also approximately followed by specular points. The aim of the…
As cooperative systems that leverage roadside cameras to assist autonomous vehicle perception become increasingly widespread, large-scale precise calibration of infrastructure cameras has become a critical issue. Traditional manual…
Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…
This paper presents a groundbreaking approach - the first online automatic geometric calibration method for radar and camera systems. Given the significant data sparsity and measurement uncertainty in radar height data, achieving automatic…
Consumer cameras, particularly onboard smartphones and UAVs, are now commonly used as scientific instruments. However, their data processing pipelines are not optimized for quantitative radiometry and their calibration is more complex than…
The light field camera is useful for computer graphics and vision applications. Calibration is an essential step for these applications. After calibration, we can rectify the captured image by using the calibrated camera parameters.…
One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…
LiDAR is playing a more and more essential role in autonomous driving vehicles for objection detection, self localization and mapping. A single LiDAR frequently suffers from hardware failure (e.g., temporary loss of connection) due to the…
A method is described that allows calibration and assessment of the linearity of response of an array of photomultiplier tubes. The method does not require knowledge of the photomultiplier single photoelectron response model and uses…
A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for…
LiDAR-camera extrinsic calibration (LCEC) is crucial for multi-modal data fusion in autonomous robotic systems. Existing methods, whether target-based or target-free, typically rely on customized calibration targets or fixed scene types,…
Representing the environment is a central challenge in robotics, and is essential for effective decision-making. Traditionally, before capturing images with a manipulator-mounted camera, users need to calibrate the camera using a specific…
This paper studies sensor calibration in spectral estimation where the true frequencies are located on a continuous domain. We consider a uniform array of sensors that collects measurements whose spectrum is composed of a finite number of…
Camera calibration is a process of paramount importance in computer vision applications that require accurate quantitative measurements. The popular method developed by Zhang relies on the use of a large number of images of a planar grid of…