Related papers: CLAIM: Camera-LiDAR Alignment with Intensity and M…

Accurate 3D object detection is crucial to autonomous driving. Though LiDAR-based detectors have achieved impressive performance, the high cost of LiDAR sensors precludes their widespread adoption in affordable vehicles. Camera-based…

Applications based on synergistic integration of optical imagery and LiDAR data are receiving a growing interest from the remote sensing community. However, a misaligned integration between these datasets may fail to fully profit the…

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…

In this paper, a three-dimensional light detection and ranging simultaneous localization and mapping (SLAM) method is proposed that is available for tracking and mapping with 500--1000 Hz processing. The proposed method significantly…

This paper presents MFCalib, an innovative extrinsic calibration technique for LiDAR and RGB camera that operates automatically in targetless environments with a single data capture. At the heart of this method is using a rich set of edge…

Rigid registration of multi-view and multi-platform LiDAR scans is a fundamental problem in 3D mapping, robotic navigation, and large-scale urban modeling applications. Data acquisition with LiDAR sensors involves scanning multiple areas…

This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-state LiDARs by leveraging an efficient and reliable edge…

Unsupervised monocular depth learning generally relies on the photometric relation among temporally adjacent images. Most of previous works use both mean absolute error (MAE) and structure similarity index measure (SSIM) with conventional…

The Simultaneous Localization And Mapping (SLAM) problem has been well studied in the robotics community, especially using mono, stereo cameras or depth sensors. 3D depth sensors, such as Velodyne LiDAR, have proved in the last 10 years to…

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;…

This paper explores the use of an entropy-based technique for point cloud reconstruction with the goal of calibrating a lidar to a sensor capable of providing egomotion information. We extend recent work in this area to the problem of…

LiDAR sensors can provide dependable 3D spatial information at a low frequency (around 10Hz) and have been widely applied in the field of autonomous driving and UAV. However, the camera with a higher frequency (around 20Hz) has to be…

In this paper, we present DM-Calib, a diffusion-based approach for estimating pinhole camera intrinsic parameters from a single input image. Monocular camera calibration is essential for many 3D vision tasks. However, most existing methods…

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…

This paper presents an open source LiDAR-camera calibration toolbox that is general to LiDAR and camera projection models, requires only one pairing of LiDAR and camera data without a calibration target, and is fully automatic. For…

Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…

Acquiring accurate three-dimensional depth information conventionally requires expensive multibeam LiDAR devices. Recently, researchers have developed a less expensive option by predicting depth information from two-dimensional color…

Light-weight camera localization in existing maps is essential for vision-based navigation. Currently, visual and visual-inertial odometry (VO\&VIO) techniques are well-developed for state estimation but with inevitable accumulated drifts…

A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…

Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…