Related papers: Neural Real-Time Recalibration for Infrared Multi-…
Many robotics and mapping systems contain multiple sensors to perceive the environment. Extrinsic parameter calibration, the identification of the position and rotation transform between the frames of the different sensors, is critical to…
Multi-view depth estimation plays a critical role in reconstructing and understanding the 3D world. Recent learning-based methods have made significant progress in it. However, multi-view depth estimation is fundamentally a…
We present a portable multiscopic camera system with a dedicated model for novel view and time synthesis in dynamic scenes. Our goal is to render high-quality images for a dynamic scene from any viewpoint at any time using our portable…
We tackle the problem of automatic calibration of radially distorted cameras in challenging conditions. Accurately determining distortion parameters typically requires either 1) solving the full Structure from Motion (SfM) problem involving…
Autonomous vehicles (AVs) fuse data from multiple sensors and sensing modalities to impart a measure of robustness when operating in adverse conditions. Radars and cameras are popular choices for use in sensor fusion; although radar…
Accurate camera-LiDAR calibration is a prerequisite for robust multi-modal perception in robotics. Recent target-less approaches based on deep point correspondences achieve remarkable performance for extrinsic calibration but assume…
The demand for multimodal sensing systems for robotics is growing due to the increase in robustness, reliability and accuracy offered by these systems. These systems also need to be spatially and temporally co-registered to be effective. In…
Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have emerged as powerful tools for 3D reconstruction and SLAM tasks. However, their performance depends heavily on accurate camera pose priors. Existing approaches attempt to…
This paper describes CALICO, a method for multi-camera calibration suitable for challenging contexts: stationary and mobile multi-camera systems, cameras without overlapping fields of view, and non-synchronized cameras. Recent approaches…
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standard AV sensor suite (i.e., lidars, cameras) with weather…
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…
The accurate and robust calibration result of sensors is considered as an important building block to the follow-up research in the autonomous driving and robotics domain. The current works involving extrinsic calibration between 3D LiDARs…
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…
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…
Camera extrinsic calibration is a fundamental task in computer vision. However, precise relative pose estimation in constrained, highly distorted environments, such as in-cabin automotive monitoring (ICAM), remains challenging. We present…
Multidimensional imaging, capturing image data in more than two dimensions, has been an emerging field with diverse applications. Due to the limitation of two-dimensional detectors in obtaining the high-dimensional image data, computational…
Accurate camera models are essential for photogrammetry applications such as 3D mapping and object localization, particularly for long distances. Various stereo-camera based 3D localization methods are available but are limited to few…
Camera calibration is a fundamental prerequisite for reliable geometric perception, yet classical approaches rely on controlled acquisition setups that are impractical for in-the-wild imagery. Recent learning-based methods have shown…
We present a solution to the problem of spatio-temporal calibration for event cameras mounted on an onmi-directional vehicle. Different from traditional methods that typically determine the camera's pose with respect to the vehicle's body…
Panoramic cameras, capable of capturing a 360-degree field of view, are crucial in robotic vision, particularly in environments with sparse features. However, non-upright panoramas due to unstable robot postures hinder downstream tasks.…