相关论文: A Branch-and-Bound Algorithm for Checkerboard Extr…
This paper proposes an automated method to obtain the extrinsic calibration parameters between a camera and a 3D lidar with as low as 16 beams. We use a checkerboard as a reference to obtain features of interest in both sensor frames. The…
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,…
LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…
Accurate camera calibration is a well-known and widely used task in computer vision that has been researched for decades. However, the standard approach based on checkerboard calibration patterns has some drawbacks that limit its…
Camera calibration is fundamental to 3D vision, and the choice of calibration pattern greatly affects the accuracy. To address aberration issue, star-shaped pattern has been proposed as alternatives to traditional checkerboard. However,…
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…
This work presents an extrinsic parameter estimation algorithm between a 3D LIDAR and a Projective Camera using a marker-less planar target, by exploiting Planar Surface Point to Plane and Planar Edge Point to back-projected Plane geometric…
The multi-sensory setups consisting of the laser scanners and cameras are popular as the measurements complement each other and provide necessary robustness for applications. Under dynamic conditions or when in motion, a direct…
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…
Aiming to improve the checkerboard corner detection robustness against the images with poor quality, such as lens distortion, extreme poses, and noise, we propose a novel detection algorithm which can maintain high accuracy on inputs under…
We present a novel method for extrinsically calibrating a camera and a 2D Laser Rangefinder (LRF) whose beams are invisible from the camera image. We show that point-to-plane constraints from a single observation of a V-shaped calibration…
In this letter, we present a novel method for automatic extrinsic calibration of high-resolution LiDARs and RGB cameras in targetless environments. Our approach does not require checkerboards but can achieve pixel-level accuracy by aligning…
Preparing appropriate images for camera calibration is crucial to obtain accurate results. In this paper, new suggestions for preparing such data to alleviate the adverse effect of radial distortion for a calibration procedure using…
Extrinsic Calibration represents the cornerstone of autonomous driving. Its accuracy plays a crucial role in the perception pipeline, as any errors can have implications for the safety of the vehicle. Modern sensor systems collect different…
The problem of calibration from straight lines is fundamental in geometric computer vision, with well-established theoretical foundations. However, its practical applicability remains limited, particularly in real-world outdoor scenarios.…
The light field camera is useful for computer graphics and vision applications. Calibration is an essential step for these applications. After calibration, we can rectify the captured image by using the calibrated camera parameters.…
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…
Whether it is object detection, model reconstruction, laser odometry, or point cloud registration: Plane extraction is a vital component of many robotic systems. In this paper, we propose a strictly probabilistic method to detect finite…
Camera calibration using planar targets has been widely favored, and two types of control points have been mainly considered as measurements: the corners of the checkerboard and the centroid of circles. Since a centroid is derived from…
Camera calibration involves estimating camera parameters to infer geometric features from captured sequences, which is crucial for computer vision and robotics. However, conventional calibration is laborious and requires dedicated…