Related papers: Spatial Calibration of Diffuse LiDARs
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…
In recent years, the fusion of camera data with LiDAR measurements has emerged as a powerful approach to enhance spatial understanding. This study introduces a novel, hardware-agnostic methodology that generates colourised point clouds from…
Image alignment and image restoration are classical computer vision tasks. However, there is still a lack of datasets that provide enough data to train and evaluate end-to-end deep learning models. Obtaining ground-truth data for image…
Indirect Time of Flight LiDARs can indirectly calculate the scene's depth from the phase shift angle between transmitted and received laser signals with amplitudes modulated at a predefined frequency. Unfortunately, this method generates…
We present a compact, diffuser-assisted, single-pixel computational camera. A rotating ground glass diffuser is adopted, in preference to a commonly used digital micro-mirror device (DMD), to encode a two-dimensional (2D) image into…
The homogeneous transformation between a LiDAR and monocular camera is required for sensor fusion tasks, such as SLAM. While determining such a transformation is not considered glamorous in any sense of the word, it is nonetheless crucial…
Accurate camera calibration is a fundamental task for 3D perception, especially when dealing with real-world, in-the-wild environments where complex optical distortions are common. Existing methods often rely on pre-rectified images or…
In this paper, we present a user-friendly LiDAR-camera calibration toolkit that is compatible with various LiDAR and camera sensors and requires only a single pair of laser points and a camera image in targetless environments. Our approach…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
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…
Accurate extrinsic calibration of multiple LiDARs is crucial for improving the foundational performance of three-dimensional (3D) map reconstruction systems. This paper presents a novel targetless extrinsic calibration framework for…
Reliable image correspondences form the foundation of vision-based spatial perception, enabling recovery of 3D structure and camera poses. However, unconstrained feature matching across domains such as aerial, indoor, and outdoor scenes…
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…
Photon-efficient imaging with the single-photon light detection and ranging (LiDAR) captures the three-dimensional (3D) structure of a scene by only a few detected signal photons per pixel. However, the existing computational methods for…
The demand for multimodal sensing systems for robotics is growing due to the increase in robustness, reliability and accuracy offered by these systems. These systems also need to be spatially and temporally co-registered to be effective. In…
We present a real-time, non-learning depth estimation method that fuses Light Detection and Ranging (LiDAR) data with stereo camera input. Our approach comprises three key techniques: Semi-Global Matching (SGM) stereo with Discrete…
This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…
Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…
Conventional LIDAR systems require hundreds or thousands of photon detections to form accurate depth and reflectivity images. Recent photon-efficient computational imaging methods are remarkably effective with only 1.0 to 3.0 detected…
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…