相关论文: Encoderless Gimbal Calibration of Dynamic Multi-Ca…
The fusion of LiDARs and cameras has been increasingly adopted in autonomous driving for perception tasks. The performance of such fusion-based algorithms largely depends on the accuracy of sensor calibration, which is challenging due to…
Accurate calibration of intrinsic (odometer scaling factors) and extrinsic parameters (IMU-odometer translation and rotation) is essential for autonomous ground vehicle localization. Existing GNSS-aided approaches often rely on positioning…
Geometric calibration of cameras and projectors is an essential step that must be performed before any imaging system can be used. There are many well-known geometric calibration methods for calibrating systems comprised of multiple…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
We propose LiFCal, a novel geometric online calibration pipeline for MLA-based light field cameras. LiFCal accurately determines model parameters from a moving camera sequence without precise calibration targets, integrating arbitrary…
Efficient dynamic point cloud compression (DPCC) critically depends on accurate motion estimation and compensation. However, the inherently irregular structure and substantial local variations of point clouds make this task highly…
The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera…
In this paper, we tackle the problem of video alignment, the process of matching the frames of a pair of videos containing similar actions. The main challenge in video alignment is that accurate correspondence should be established despite…
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…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
Reliable operation in inclement weather is essential to the deployment of safe autonomous vehicles (AVs). Robustness and reliability can be achieved by fusing data from the standard AV sensor suite (i.e., lidars, cameras) with weather…
In many scenarios where cameras are applied, such as robot positioning and unmanned driving, camera calibration is one of the most important pre-work. The interactive calibration method based on the plane board is becoming popular in camera…
How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…
In four-dimensional scanning transmission electron microscopy (4D STEM) a focused beam is scanned over a specimen and a diffraction pattern is recorded at each position using a pixelated detector. During the experiment, it must be ensured…
This paper presents an efficient approach for determining the joint configuration of a multifingered gripper solely from the point cloud data of its poly-articulated chain, as generated by visual sensors, simulations or even generative…
The quality of captured images strongly influences the performance of downstream perception tasks. Recent works on co-designing camera systems with perception tasks have shown improved task performance. However, most prior approaches focus…
Accurate camera calibration is crucial for various computer vision applications. However, measuring calibration accuracy in the real world is challenging due to the lack of datasets with ground truth to evaluate them. In this paper, we…
Depth sensing devices have created various new applications in scientific and commercial research with the advent of Microsoft Kinect and PMD (Photon Mixing Device) cameras. Most of these applications require the depth cameras to be…
Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…
Spatial scene-understanding, including dense depth and ego-motion estimation, is an important problem in computer vision for autonomous vehicles and advanced driver assistance systems. Thus, it is beneficial to design perception modules…