Related papers: Flexible Camera Calibration using a Collimator Sys…
We present a new mathematical formulation to estimate the intrinsic parameters of a camera in active or robotic platforms. We show that the focal lengths can be estimated using only one point correspondence that relates images taken before…
Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…
Usual Structure-from-Motion (SfM) techniques require at least trifocal overlaps to calibrate cameras and reconstruct a scene. We consider here scenarios of reduced image sets with little overlap, possibly as low as two images at most seeing…
Most approaches to camera calibration rely on calibration targets of well-known geometry. During data acquisition, calibration target and camera system are typically moved w.r.t. each other, to allow image coverage and perspective…
In this paper we propose a new flexible method for hand-eye calibration. The vast majority of existing hand-eye calibration techniques requires a calibration rig which is used in conjunction with camera pose estimation methods. Instead, we…
This paper presents a novel 3D mapping robot with an omnidirectional field-of-view (FoV) sensor suite composed of a non-repetitive LiDAR and an omnidirectional camera. Thanks to the non-repetitive scanning nature of the LiDAR, an automatic…
Recent progress in the automated driving system (ADS) and advanced driver assistant system (ADAS) has shown that the combined use of 3D light detection and ranging (LiDAR) and the camera is essential for an intelligent vehicle to perceive…
A non-iterative auto-calibration algorithm is presented. It deals with a minimal set of six scene points in three views taken by a camera with fixed but unknown intrinsic parameters. Calibration is based on the image correspondences only.…
Fish-eye cameras are becoming increasingly popular in computer vision, but their use for 3D measurement is limited partly due to the lack of an accurate, efficient and user-friendly calibration procedure. For such a purpose, we propose a…
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…
The combination of LiDARs and cameras enables a mobile robot to perceive environments with multi-modal data, becoming a key factor in achieving robust perception. Traditional frame cameras are sensitive to changing illumination conditions,…
Online camera-to-ground calibration is to generate a non-rigid body transformation between the camera and the road surface in a real-time manner. Existing solutions utilize static calibration, suffering from environmental variations such as…
Micro scanning mirrors (MSM) extend the range and field of view of LiDARs, medical imaging devices, and laser projectors. However, a new class of soft-hinged MSMs contains out-of-plane translation in addition to the 2 degree-of-freedom…
Recently, multi-sensors fusion has achieved significant progress in the field of automobility to improve navigation and position performance. As the prerequisite of the fusion algorithm, the demand for the extrinsic calibration of…
Most algorithms in 3D computer vision rely on the pinhole camera model because of its simplicity, whereas virtually all imaging devices introduce certain amount of nonlinear distortion, where the radial distortion is the most severe part.…
Most intelligent transportation systems use a combination of radar sensors and cameras for robust vehicle perception. The calibration of these heterogeneous sensor types in an automatic fashion during system operation is challenging due to…
Precise LiDAR-camera calibration is crucial for integrating these two sensors into robotic systems to achieve robust perception. In applications like autonomous driving, online targetless calibration enables a prompt sensor misalignment…
In many scenarios where cameras are applied, such as robot positioning and unmanned driving, camera calibration is one of the most important pre-work. The interactive calibration method based on the plane board is becoming popular in camera…
Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a…
The purpose of this study is to develop an automated and accurate external camera calibration method for multi-camera systems used in 3D surgical scene reconstruction (3D-SSR), eliminating the need for operator intervention or specialized…