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Camera calibration is a process of paramount importance in computer vision applications that require accurate quantitative measurements. The popular method developed by Zhang relies on the use of a large number of images of a planar grid of…
Automatic detection of visual anomalies and changes in the environment has been a topic of recurrent attention in the fields of machine learning and computer vision over the past decades. A visual anomaly or change detection algorithm…
With the increasing prevalence of complex vision-based sensing methods for use in obstacle identification and state estimation, characterizing environment-dependent measurement errors has become a difficult and essential part of modern…
Laser line scanners are increasingly being used in the subsea industry for high-resolution mapping and infrastructure inspection. However, calibrating the 3D pose of the scanner relative to the vehicle is a perennial source of confusion and…
While automotive radar sensors are widely adopted and have been used for automatic cruise control and collision avoidance tasks, their application outside of vehicles is still limited. As they have the ability to resolve multiple targets in…
Electric Vehicles are increasingly common, with inductive chargepads being considered a convenient and efficient means of charging electric vehicles. However, drivers are typically poor at aligning the vehicle to the necessary accuracy for…
Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a novel LiDAR-IMU calibration method within the continuous-time…
From a single image, visual cues can help deduce intrinsic and extrinsic camera parameters like the focal length and the gravity direction. This single-image calibration can benefit various downstream applications like image editing and 3D…
In this paper, we focus on fully automatic traffic surveillance camera calibration, which we use for speed measurement of passing vehicles. We improve over a recent state-of-the-art camera calibration method for traffic surveillance based…
Laser vision sensors (LVS) are critical perception modules for industrial robots, facilitating real-time acquisition of workpiece geometric data in welding applications. However, the camera communication delay will lead to a temporal…
Most conventional camera calibration algorithms assume that the imaging device has a Single Viewpoint (SVP). This is not necessarily true for special imaging device such as fisheye lenses. As a consequence, the intrinsic camera calibration…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
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…
Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…
This paper presents a novel spherical target-based LiDAR-camera extrinsic calibration method designed for outdoor environments with multi-robot systems, considering both target and sensor corruption. The method extracts the 2D ellipse…
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…
Recent advances in visuotactile sensors increasingly employ biomimetic curved surfaces to enhance sensorimotor capabilities. Although such curved visuotactile sensors enable more conformal object contact, their perceptual quality is often…
In view of contemporary panoramic camera-laser scanner system, the traditional calibration method is not suitable for panoramic cameras whose imaging model is extremely nonlinear. The method based on statistical optimization has the…
Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream tasks. Contact-based calibration methods let the user measure…