相关论文: Encoderless Gimbal Calibration of Dynamic Multi-Ca…
This paper proposes a fully decentralized and recursive approach to online identification of unknown kinematic and dynamic parameters for cooperative manipulation of a rigid body based on commonly used local measurements. To the best of our…
In air-ground collaboration scenarios without GPS and prior maps, the relative positioning of drones and unmanned ground vehicles (UGVs) has always been a challenge. For a drone equipped with monocular camera and an UGV equipped with LiDAR…
Many robotics applications require alignment and fusion of observations obtained at multiple views to form a global model of the environment. Multi-way data association methods provide a mechanism to improve alignment accuracy of pairwise…
Conventional multi-projector calibration requires projecting and capturing structured light patterns for each projector sequentially, causing calibration time and effort to increase linearly with the number of projectors. This scalability…
Multi-camera SLAM systems offer a plethora of advantages, primarily stemming from their capacity to amalgamate information from a broader field of view, thereby resulting in heightened robustness and improved localization accuracy. In this…
Autonomous vehicles (AVs) fuse data from multiple sensors and sensing modalities to impart a measure of robustness when operating in adverse conditions. Radars and cameras are popular choices for use in sensor fusion; although radar…
This paper presents a groundbreaking approach - the first online automatic geometric calibration method for radar and camera systems. Given the significant data sparsity and measurement uncertainty in radar height data, achieving automatic…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
Autonomous trucking poses unique challenges due to articulated tractor-trailer geometry, and time-varying sensor poses caused by the fifth-wheel joint and trailer flex. Existing perception and calibration methods assume static baselines or…
We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…
The non-uniformly distributed nature of the 3D dynamic point cloud (DPC) brings significant challenges to its high-efficient inter-frame compression. This paper proposes a novel 3D sparse convolution-based Deep Dynamic Point Cloud…
Calibration in a multi camera network has widely been studied for over several years starting from the earlier days of photogrammetry. Many authors have presented several calibration algorithms with their relative advantages and…
This paper proposes SemCal: an automatic, targetless, extrinsic calibration algorithm for a LiDAR and camera system using semantic information. We leverage a neural information estimator to estimate the mutual information (MI) of semantic…
An analysis of the relative motion and point feature model configurations leading to solution degeneracy is presented, for the case of a Simultaneous Localization and Mapping system using multicamera clusters with non-overlapping…
Feed-forward paradigms for 3D reconstruction have become a focus of recent research, which learn implicit, fixed view transformations to generate a single scene representation. However, their application to complex driving scenes reveals…
Accurate 3D reconstruction using multi-camera RGB-D systems critically depends on precise extrinsic calibration to achieve proper alignment between captured views. In this paper, we introduce an iterative extrinsic calibration method that…
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…
We propose and demonstrate experimentally a new method based on the spatial entanglement for the absolute calibration of analog detector. The idea consists on measuring the sub-shot-noise intensity correlation between two branches of…
Event-based cameras, also called silicon retinas, potentially revolutionize computer vision by detecting and reporting significant changes in intensity asynchronous events, offering extended dynamic range, low latency, and low power…
Calibrating sports cameras is important for autonomous broadcasting and sports analysis. Here we propose a highly automatic method for calibrating sports cameras from a single image using synthetic data. First, we develop a novel camera…