相关论文: A Branch-and-Bound Algorithm for Checkerboard Extr…

Mobile robots equipped with multiple light detection and ranging (LiDARs) and capable of recognizing their surroundings are increasing due to the minitualization and cost reduction of LiDAR. This paper proposes a target-less extrinsic…

A method for detecting and approximating fault lines or surfaces, respectively, or decision curves in two and three dimensions with guaranteed accuracy is presented. Reformulated as a classification problem, our method starts from a set of…

The development of sensitive large format imaging arrays for the infrared promises to provide revolutionary capabilities for space astronomy. For example, the Infrared Array Camera (IRAC) on SIRTF will use four 256 x 256 arrays to provide…

Monocular camera sensors are vital to intelligent vehicle operation and automated driving assistance and are also heavily employed in traffic control infrastructure. Calibrating the monocular camera, though, is time-consuming and often…

Camera calibration is a necessity in various tasks including 3D reconstruction, hand-eye coordination for a robotic interaction, autonomous driving, etc. In this work we propose a novel method to predict extrinsic (baseline, pitch, and…

Camera calibration plays a critical role in various computer vision tasks such as autonomous driving or augmented reality. Widely used camera calibration tools utilize plane pattern based methodology, such as using a chessboard or AprilTag…

Camera calibration is a crucial step in photogrammetry and 3D vision applications. This paper introduces a novel camera calibration method using a designed collimator system. Our collimator system provides a reliable and controllable…

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…

Fourier ptychography captures intensity images with varying source patterns (illumination angles) in order to computationally reconstruct large space-bandwidth-product images. Accurate knowledge of the illumination angles is necessary for…

Accurate camera-to-lidar calibration is a requirement for sensor data fusion in many 3D perception tasks. In this paper, we present SceneCalib, a novel method for simultaneous self-calibration of extrinsic and intrinsic parameters in a…

In this paper we present a new camera calibration method aimed at finding a straight-line locus, in a special colour feature space, that is traversed by daylights and as well also approximately followed by specular points. The aim of the…

We consider the problem of direction finding using partly calibrated arrays, a distributed subarray with position errors between subarrays. The key challenge is to enhance angular resolution in the presence of position errors. To achieve…

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…

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…

Boundary detection is essential for a variety of computer vision tasks such as segmentation and recognition. In this paper we propose a unified formulation and a novel algorithm that are applicable to the detection of different types of…

We study the complexity of cutting planes and branching schemes from a theoretical point of view. We give some rigorous underpinnings to the empirically observed phenomenon that combining cutting planes and branching into a branch-and-cut…

In many fields of robotics, knowing the relative position and orientation between two sensors is a mandatory precondition to operate with multiple sensing modalities. In this context, the pair LiDAR-RGB cameras offer complementary features:…

In this work, we investigate the problem of measuring a the centre checkerboard target in an 3D point cloud. This is an important problem which has applications in registration, long term monitoring and linking to other sensor systems. We…

This paper studies sensor calibration in spectral estimation where the true frequencies are located on a continuous domain. We consider a uniform array of sensors that collects measurements whose spectrum is composed of a finite number of…

This paper presents the first generic bi-objective binary linear branch-and-cut algorithm. Studying the impact of valid inequalities in solution and objective spaces, two cutting frameworks are proposed. The multi-point separation problem…