Related papers: CalTag: Robust calibration of mmWave Radar and LiD…
Millimeter wave sensing has recently attracted a lot of attention given its environmental robust nature. In situations where visual sensors like cameras fail to perform, mmwave radars can be used to achieve reliable performance. However,…
Image-based fiducial markers are useful in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and vision-based simultaneous localization and mapping (SLAM). The…
The LiDAR fiducial tag, akin to the well-known AprilTag used in camera applications, serves as a convenient resource to impart artificial features to the LiDAR sensor, facilitating robotics applications. Unfortunately, the existing LiDAR…
Visual fiducial systems are a key component of many robotics and AR/VR applications for 6-DOF monocular relative pose estimation and target identification. This paper presents LFTag, a visual fiducial system based on topological detection…
Millimeter-wave (mmWave) Radar--Camera fusion improves perception under adverse illumination and weather, but its performance is sensitive to Radar--Camera extrinsic calibration: residual misalignment biases Radar-to-image projection and…
4D radar has emerged as a critical sensor for autonomous driving, primarily due to its enhanced capabilities in elevation measurement and higher resolution compared to traditional 3D radar. Effective integration of 4D radar with cameras…
Fiducial markers provide better-defined features than the ones naturally available in the scene. For this reason, they are widely utilized in computer vision applications where reliable pose estimation is required. Factors such as imaging…
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…
Millimeter-wave (mmWave) radar systems with large array have pushed radar sensing into a new era, thanks to their high angular resolution. However, our long-term experiments indicate that array elements exhibit phase drift over time and…
Millimeter wave (mmWave) radar sensors are emerging as valid alternatives to cameras for the pervasive contactless monitoring of people in indoor spaces. However, commercial mmWave radars feature a limited range (up to $6$-$8$ m) and are…
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…
Despite an emerging interest in MIMO radar, the utilization of its complementary strengths in combination with optical depth sensors has so far been limited to far-field applications, due to the challenges that arise from mutual sensor…
A fiducial marker system usually consists of markers, a detection algorithm, and a coding system. The appearance of markers and the detection robustness are generally limited by the existing detection algorithms, which are hand-crafted with…
Accurate orientation estimation of objects can aid in scene understanding in many applications. In this paper, we consider use cases where passive tags could be deployed to assist radar systems in estimating object orientation. Towards that…
The fusion of LiDARs and cameras has been increasingly adopted in autonomous driving for perception tasks. The performance of such fusion-based algorithms largely depends on the accuracy of sensor calibration, which is challenging due to…
Current perception systems often carry multimodal imagers and sensors such as 2D cameras and 3D LiDAR sensors. To fuse and utilize the data for downstream perception tasks, robust and accurate calibration of the multimodal sensor data is…
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…
Due to its light and weather-independent sensing, millimeter-wave (MMW) radar is essential in smart environments. Intelligent vehicle systems and industry-grade MMW radars have integrated such capabilities. Industry-grade MMW radars are…
Although fiducial markers give an accurate pose estimation in laboratory conditions, where the noisy factors are controlled, using them in field robotic applications remains a challenge. This is constrained to the fiducial maker systems,…
In multimodal perception systems, achieving precise extrinsic calibration between LiDAR and camera is of critical importance. Previous calibration methods often required specific targets or manual adjustments, making them both…