Related papers: MEMROC: Multi-Eye to Mobile RObot Calibration
In this paper, we propose a fast extrinsic calibration method for fusing multiple inertial measurement units (MIMU) to improve visual-inertial odometry (VIO) localization accuracy. Currently, data fusion algorithms for MIMU highly depend on…
There has been extensive progress in the reconstruction and generation of 4D scenes from monocular casually-captured video. While these tasks rely heavily on known camera poses, the problem of finding such poses using structure-from-motion…
Extrinsic Calibration represents the cornerstone of autonomous driving. Its accuracy plays a crucial role in the perception pipeline, as any errors can have implications for the safety of the vehicle. Modern sensor systems collect different…
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…
Visual-inertial fusion is crucial for a large amount of intelligent and autonomous applications, such as robot navigation and augmented reality. To bootstrap and achieve optimal state estimation, the spatial-temporal displacements between…
Making multi-camera visual SLAM systems easier to set up and more robust to the environment is attractive for vision robots. Existing monocular and binocular vision SLAM systems have narrow sensing Field-of-View (FoV), resulting in…
Visual perception is regularly used by humans and robots for navigation. By either implicitly or explicitly mapping the environment, ego-motion can be determined and a path of actions can be planned. The process of mapping and navigation…
Accurate 3D reconstruction using multi-camera RGB-D systems critically depends on precise extrinsic calibration to achieve proper alignment between captured views. In this paper, we introduce an iterative extrinsic calibration method that…
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…
Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few assumptions about the structure of the sensing environment,…
Multi-camera systems are widely employed in sports to capture the 3D motion of athletes and equipment, yet calibrating their extrinsic parameters remains costly and labor-intensive. We introduce an efficient, tool-free method for…
The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…
This paper presents an implementation of robust model predictive control (MPC) for collision-free reference trajectory tracking for mobile robots. The presented approach considers the robot motion to be subject to process noise bounded by…
Multi-agent systems, e.g., automobiles and UAVs (Unmanned Ariel Vehicles), rely on the precision of onboard sensors to accurately perceive their environment, which in turn depends on the precision of onboard sensors and reliable in-field…
We propose MCGrad, a novel and scalable multicalibration algorithm. Multicalibration - calibration in subgroups of the data - is an important property for the performance of machine learning-based systems. Existing multicalibration methods…
For many computer vision applications, the availability of camera calibration data is crucial as overall quality heavily depends on it. While calibration data is available on some devices through Augmented Reality (AR) frameworks like…
Determining the extrinsic parameter between multiple LiDARs and cameras is essential for autonomous robots, especially for solid-state LiDARs, where each LiDAR unit has a very small Field-of-View (FoV), and multiple units are often used…
The need to relate measurements made by a camera to a different known coordinate system arises in many engineering applications. Historically, it appeared for the first time in the connection with cameras mounted on robotic systems. This…
Achieving safe and reliable autonomous driving relies greatly on the ability to achieve an accurate and robust perception system; however, this cannot be fully realized without precisely calibrated sensors. Environmental and operational…
Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human activities, such as locomotion. The proposed long-term solution…