Related papers: eKalibr-Stereo: Continuous-Time Spatiotemporal Cal…
This paper presents a robust approach for a visual parallel tracking and mapping (PTAM) system that excels in challenging environments. Our proposed method combines the strengths of heterogeneous multi-modal visual sensors, including stereo…
Spatio-temporal forecasting is crucial in many domains, such as transportation, meteorology, and energy. However, real-world scenarios frequently present challenges such as signal anomalies, noise, and distributional shifts. Existing…
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…
Event cameras sense the intensity changes asynchronously and produce event streams with high dynamic range and low latency. This has inspired research endeavors utilizing events to guide the challenging video superresolution (VSR) task. In…
Thermal cameras offer strong potential for robot perception under challenging illumination and weather conditions. However, thermal Simultaneous Localization and Mapping (SLAM) remains difficult due to unreliable feature extraction,…
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…
Autonomous vehicles and robots need to operate over a wide variety of scenarios in order to complete tasks efficiently and safely. Multi-camera self-supervised monocular depth estimation from videos is a promising way to reason about the…
This paper investigates trajectory prediction for robotics, to improve the interaction of robots with moving targets, such as catching a bouncing ball. Unexpected, highly-non-linear trajectories cannot easily be predicted with…
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…
Agile locomotion in legged robots poses significant challenges for visual perception. Traditional frame-based cameras often fail in these scenarios for producing blurred images, particularly under low-light conditions. In contrast, event…
Dynamic stereo matching is the task of estimating consistent disparities from stereo videos with dynamic objects. Recent learning-based methods prioritize optimal performance on a single stereo pair, resulting in temporal inconsistencies.…
The application of monocular dense Simultaneous Localization and Mapping (SLAM) is often hindered by high latency, large GPU memory consumption, and reliance on camera calibration. To relax this constraint, we propose EC3R-SLAM, a novel…
We present a novel target-based lidar-camera extrinsic calibration methodology that can be used for non-overlapping field of view (FOV) sensors. Contrary to previous work, our methodology overcomes the non-overlapping FOV challenge using a…
Egocentric 3D hand pose estimation and gesture recognition are essential for immersive augmented/virtual reality, human-computer interaction, and robotics. However, conventional frame-based cameras suffer from motion blur and limited…
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…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…
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…
It is now possible to estimate 3D human pose from monocular images with off-the-shelf 3D pose estimators. However, many practical applications require fine-grained absolute pose information for which multi-view cues and camera calibration…
In a multi-sensor fusion system composed of cameras and LiDAR, precise extrinsic calibration contributes to the system's long-term stability and accurate perception of the environment. However, methods based on extracting and registering…
Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…