相关论文: Automatic Calibration of Multiple 3D LiDARs in Urb…
Sensor-based environmental perception is a crucial part of the autonomous driving system. In order to get an excellent perception of the surrounding environment, an intelligent system would configure multiple LiDARs (3D Light Detection and…
Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a…
In autonomous systems, sensor calibration is essential for safe and efficient navigation in dynamic environments. Accurate calibration is a prerequisite for reliable perception and planning tasks such as object detection and obstacle…
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…
Most sensor setups for onboard autonomous perception are composed of LiDARs and vision systems, as they provide complementary information that improves the reliability of the different algorithms necessary to obtain a robust scene…
For autonomous vehicles, an accurate calibration for LiDAR and camera is a prerequisite for multi-sensor perception systems. However, existing calibration techniques require either a complicated setting with various calibration targets, or…
With the rapid development of autonomous driving and SLAM technology, the performance of autonomous systems using multimodal sensors highly relies on accurate extrinsic calibration. Addressing the need for a convenient, maintenance-friendly…
Accurate and reliable sensor calibration is critical for fusing LiDAR and inertial measurements in autonomous driving. This paper proposes a novel three-stage extrinsic calibration method between LiDAR and GNSS/INS for autonomous driving.…
A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues. In this paper, an accurate inspection system is proposed for estimating a LiDAR…
We demonstrate a multi-lidar calibration framework for large mobile platforms that jointly calibrate the extrinsic parameters of non-overlapping Field-of-View (FoV) lidar sensors, without the need for any external calibration aid. The…
Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…
Multi-agent systems, e.g., automobiles and UAVs (Unmanned Ariel Vehicles), rely on the precision of onboard sensors to accurately perceive their environment, which in turn depends on the precision of onboard sensors and reliable in-field…
In this paper we perform an experimental comparison of three different target based 3D-LIDAR camera calibration algorithms. We briefly elucidate the mathematical background behind each method and provide insights into practical aspects like…
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…
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…
Sensor-based environmental perception is a crucial step for autonomous driving systems, for which an accurate calibration between multiple sensors plays a critical role. For the calibration of LiDAR and camera, the existing method is…
Recently, it has become popular to deploy sensors such as LiDARs on the roadside to monitor the passing traffic and assist autonomous vehicle perception. Unlike autonomous vehicle systems, roadside sensors are usually affiliated with…
In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this paper, we present a method to estimate the full…
Camera-LiDAR extrinsic calibration is a critical task for multi-sensor fusion in autonomous systems, such as self-driving vehicles and mobile robots. Traditional techniques often require manual intervention or specific environments, making…
LiDAR is playing a more and more essential role in autonomous driving vehicles for objection detection, self localization and mapping. A single LiDAR frequently suffers from hardware failure (e.g., temporary loss of connection) due to the…