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RGB-D cameras are crucial in robotic perception, given their ability to produce images augmented with depth data. However, their limited FOV often requires multiple cameras to cover a broader area. In multi-camera RGB-D setups, the goal is…
Understanding and mitigating flicker effects caused by rapid variations in light intensity is critical for enhancing the performance of event cameras in diverse environments. This paper introduces an innovative autonomous mechanism for…
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…
LiDAR-camera extrinsic calibration is essential for multi-modal data fusion in robotic perception systems. However, existing approaches typically rely on handcrafted calibration targets (e.g., checkerboards) or specific, static scene types,…
Event cameras are bio-inspired sensors that capture the per-pixel intensity changes asynchronously and produce event streams encoding the time, pixel position, and polarity (sign) of the intensity changes. Event cameras possess a myriad of…
Video Anomaly Detection (VAD) is essential for computer vision research. Existing VAD methods utilize either reconstruction-based or prediction-based frameworks. The former excels at detecting irregular patterns or structures, whereas the…
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…
Recent progress in the automated driving system (ADS) and advanced driver assistant system (ADAS) has shown that the combined use of 3D light detection and ranging (LiDAR) and the camera is essential for an intelligent vehicle to perceive…
In this paper, we present a user-friendly LiDAR-camera calibration toolkit that is compatible with various LiDAR and camera sensors and requires only a single pair of laser points and a camera image in targetless environments. Our approach…
Wide-angle cameras are uniquely positioned for mobile robots, by virtue of the rich information they provide in a small, light, and cost-effective form factor. An accurate calibration of the intrinsics and extrinsics is a critical…
In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…
In low-light conditions, capturing videos with frame-based cameras often requires long exposure times, resulting in motion blur and reduced visibility. While frame-based motion deblurring and low-light enhancement have been studied, they…
This paper presents U-LanD, a framework for joint detection of key frames and landmarks in videos. We tackle a specifically challenging problem, where training labels are noisy and highly sparse. U-LanD builds upon a pivotal observation: a…
Accurate camera calibration is crucial for various computer vision applications. However, measuring calibration accuracy in the real world is challenging due to the lack of datasets with ground truth to evaluate them. In this paper, we…
Unwanted camera occlusions, such as debris, dust, rain-drops, and snow, can severely degrade the performance of computer-vision systems. Dynamic occlusions are particularly challenging because of the continuously changing pattern. Existing…
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…
LiDAR-camera systems have become increasingly popular in robotics recently. A critical and initial step in integrating the LiDAR and camera data is the calibration of the LiDAR-camera system. Most existing calibration methods rely on…
Camera calibration is the foundation of 3D vision. Generic camera calibration can yield more accurate results than parametric cam era calibration. However, calibrating a generic camera model using printed calibration boards requires far…
In this paper, we address extrinsic calibration for camera, lidar, and 4D radar sensors. Accurate extrinsic calibration of radar remains a challenge due to the sparsity of its data. We propose CLRNet, a novel, multi-modal end-to-end deep…
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…