Related papers: Spatial Calibration of Diffuse LiDARs
Owing to the capability for reliable and all-weather long-range sensing, the fusion of LiDAR and Radar has been widely applied to autonomous vehicles for robust perception. In practical operation, well manually calibrated extrinsic…
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…
Single-photon light detection and ranging (LiDAR) is a key technology for depth imaging through complex environments. Despite recent advances, an open challenge is the ability to isolate the LiDAR signal from other spurious sources…
Estimating forest AGB at large scales and fine spatial resolutions has become increasingly important for greenhouse gas accounting, monitoring, and verification efforts to mitigate climate change. Airborne LiDAR is highly valuable for…
We consider the application of relative self-calibration using overlap regions to spectroscopic galaxy surveys that use slit-less spectroscopy. This method is based on that developed for the SDSS by Padmanabhan at al. (2008) in that we…
The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of Simultaneous Localization and Mapping (SLAM) systems. To achieve this, the gold standard is Bundle Adjustment (BA). Modern 3D LiDARs now retain higher…
LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption and reduced maintainability for long-term operations. In…
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…
Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…
We introduce SCAR, a method for long-term auto-calibration refinement of aerial visual-inertial systems that exploits georeferenced satellite imagery as a persistent global reference. SCAR estimates both intrinsic and extrinsic parameters…
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…
Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…
Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…
The ill-posed problem of phase retrieval in optics, using one or more intensity measurements, has a multitude of applications using electromagnetic or matter waves. Many phase retrieval algorithms are computed on pixel arrays using discrete…
Spinning LiDAR data are prevalent for 3D vision tasks. Since LiDAR data is presented in the form of point clouds, expensive 3D operations are usually required. This paper revisits spinning LiDAR scan formation and presents a cylindrical…
Recently, the rapid development of Solid-State LiDAR (SSL) enables low-cost and efficient obtainment of 3D point clouds from the environment, which has inspired a large quantity of studies and applications. However, the non-uniformity of…
Key science questions, such as galaxy distance estimation and weather forecasting, often require knowing the full predictive distribution of a target variable $y$ given complex inputs $\mathbf{x}$. Despite recent advances in machine…
Modern LiDAR sensors find increasing use in safety-critical applications. Therefore, highly accurate modeling of the system's behavior under demanding environmental conditions is necessary. In this paper, we present a modular structure to…
We present the photometric calibration technique for the Digitized Second Palomar Observatory Sky Survey (DPOSS), used to create seamless catalogs of calibrated objects over large sky areas. After applying a correction for telescope…
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…