Related papers: Automated Camera Calibration via Homography Estima…
Pairwise camera pose estimation from sparsely overlapping image pairs remains a critical and unsolved challenge in 3D vision. Most existing methods struggle with image pairs that have small or no overlap. Recent approaches attempt to…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
High-Definition (HD) maps play a crucial role in autonomous vehicle navigation, complementing onboard perception sensors for improved accuracy and safety. Traditional HD map generation relies on dedicated mapping vehicles, which are costly…
Homomorphism is a key mapping technique between graphs that preserves their structure. Given a graph and a pattern, the subgraph homomorphism problem involves finding a mapping from the pattern to the graph, ensuring that adjacent vertices…
Accurate distance estimation from monocular cameras is essential for intelligent monitoring systems. In many deployments, image coordinates are mapped to ground positions using planar homographies initialized by manual selection of…
Camera-based end-to-end driving neural networks bring the promise of a low-cost system that maps camera images to driving control commands. These networks are appealing because they replace laborious hand engineered building blocks but…
We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…
Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…
In recent years, the field of autonomous driving has witnessed remarkable advancements, driven by the integration of a multitude of sensors, including cameras and LiDAR systems, in different prototypes. However, with the proliferation of…
Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…
This article introduces a novel approach to constructing a topometric map that allows for efficient navigation and decision-making in mobile robotics applications. The method generates the topometric map from a 2D grid-based map. The…
Camera calibration involves estimating camera parameters to infer geometric features from captured sequences, which is crucial for computer vision and robotics. However, conventional calibration is laborious and requires dedicated…
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…
We propose two novel solvers for estimating the egomotion of a calibrated camera mounted to a moving vehicle from a single affine correspondence via recovering special homographies. For the first class of solvers, the sought plane is…
For scalable autonomous driving, a robust map-based localization system, independent of GPS, is fundamental. To achieve such map-based localization, online high-definition (HD) map construction plays a significant role in accurate…
Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…
Change in viewpoint is one of the major factors for variation in object appearance across different images. Thus, view-invariant object recognition is a challenging and important image understanding task. In this paper, we propose a method…
Many tasks performed by autonomous vehicles such as road marking detection, object tracking, and path planning are simpler in bird's-eye view. Hence, Inverse Perspective Mapping (IPM) is often applied to remove the perspective effect from a…
Can freely moving humans or animals themselves serve as calibration targets for multi-camera systems while simultaneously estimating their correspondences across views? We humans can solve this problem by mentally rotating the observed 2D…
Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple…