Related papers: What Really Matters for Learning-based LiDAR-Camer…
A machine learning model is calibrated if its predicted probability for an outcome matches the observed frequency for that outcome conditional on the model prediction. This property has become increasingly important as the impact of machine…
Neural networks solving real-world problems are often required not only to make accurate predictions but also to provide a confidence level in the forecast. The calibration of a model indicates how close the estimated confidence is to the…
We propose an algorithm for automatic, targetless, extrinsic calibration of a LiDAR and camera system using semantic information. We achieve this goal by maximizing mutual information (MI) of semantic information between sensors, leveraging…
Image editing and compositing have become ubiquitous in entertainment, from digital art to AR and VR experiences. To produce beautiful composites, the camera needs to be geometrically calibrated, which can be tedious and requires a physical…
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…
Accurate 3D object detection is critical for autonomous driving, necessitating reliable, cost-effective sensors capable of operating in adverse weather conditions. Camera and millimeter-wave radar fusion has emerged as a promising solution;…
Sensor fusion is vital for the safe and robust operation of autonomous vehicles. Accurate extrinsic sensor to sensor calibration is necessary to accurately fuse multiple sensor's data in a common spatial reference frame. In this paper, we…
Motivated by the increasing application of low-resolution LiDAR recently, we target the problem of low-resolution LiDAR-camera calibration in this work. The main challenges are two-fold: sparsity and noise in point clouds. To address the…
In this paper, we address extrinsic calibration for camera, lidar, and 4D radar sensors. Accurate extrinsic calibration of radar remains a challenge due to the sparsity of its data. We propose CLRNet, a novel, multi-modal end-to-end deep…
Recent works have shown that deep neural networks can achieve super-human performance in a wide range of image classification tasks in the medical imaging domain. However, these works have primarily focused on classification accuracy,…
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…
There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…
Multi-modal object detection in autonomous driving has achieved great breakthroughs due to the usage of fusing complementary information from different sensors. The calibration in fusion between sensors such as LiDAR and camera was always…
In the field of medical image analysis, achieving high accuracy is not enough; ensuring well-calibrated predictions is also crucial. Confidence scores of a deep neural network play a pivotal role in explainability by providing insights into…
Currently, there are no learning-free or neural techniques for real-time recalibration of infrared multi-camera systems. In this paper, we address the challenge of real-time, highly-accurate calibration of multi-camera infrared systems, a…
Camera calibration is a crucial technique which significantly influences the performance of many robotic systems. Robustness and high precision have always been the pursuit of diverse calibration methods. State-of-the-art calibration…
Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…
Calibration error is commonly adopted for evaluating the quality of uncertainty estimators in deep neural networks. In this paper, we argue that such a metric is highly beneficial for training predictive models, even when we do not…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
Camera calibration is a necessity in various tasks including 3D reconstruction, hand-eye coordination for a robotic interaction, autonomous driving, etc. In this work we propose a novel method to predict extrinsic (baseline, pitch, and…