相关论文: Online Photometric Calibration of Automatic Gain T…
Most intelligent transportation systems use a combination of radar sensors and cameras for robust vehicle perception. The calibration of these heterogeneous sensor types in an automatic fashion during system operation is challenging due to…
Robotics has been widely applied in smart construction for generating the digital twin or for autonomous inspection of construction sites. For example, for thermal inspection during concrete curing, continual monitoring of the concrete…
In this paper, we present a novel zero-shot camera calibration method that estimates camera parameters with no calibration image. It is common sense that we need at least one or more pattern images for camera calibration. However, the…
There are a multitude of emerging imaging technologies that could benefit robotics. However the need for bespoke models, calibration and low-level processing represents a key barrier to their adoption. In this work we present NOCaL, Neural…
As an essential procedure of data fusion, LiDAR-camera calibration is critical for autonomous vehicles and robot navigation. Most calibration methods rely on hand-crafted features and require significant amounts of extracted features or…
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…
The majority of learning-based semantic segmentation methods are optimized for daytime scenarios and favorable lighting conditions. Real-world driving scenarios, however, entail adverse environmental conditions such as nighttime…
With the dominance of keyframe-based SLAM in the field of robotics, the relative frame poses between keyframes have typically been sacrificed for a faster algorithm to achieve online applications. However, those approaches can become…
We describe a new method for comparing frame appearance in a frame-to-model 3-D mapping and tracking system using an low dynamic range (LDR) RGB-D camera which is robust to brightness changes caused by auto exposure. It is based on a…
The homography matrix is a key component in various vision-based robotic tasks. Traditionally, homography estimation algorithms are classified into feature- or intensity-based. The main advantages of the latter are their versatility,…
Occlusion-free video generation is challenging due to surgeons' obstructions in the camera field of view. Prior work has addressed this issue by installing multiple cameras on a surgical light, hoping some cameras will observe the surgical…
This paper presents fast procedures for thermal infrared remote sensing in dark, GPS-denied environments, such as those found in industrial plants such as in High-Voltage Direct Current (HVDC) converter stations. These procedures are based…
Infrared (IR) imaging offers advantages in several fields due to its unique ability of capturing content in extreme light conditions. However, the demanding hardware requirements of high-resolution IR sensors limit its widespread…
LiDAR-camera systems have become increasingly popular in robotics recently. A critical and initial step in integrating the LiDAR and camera data is the calibration of the LiDAR-camera system. Most existing calibration methods rely on…
Accurate intrinsic and extrinsic camera calibration can be an important prerequisite for robotic applications that rely on vision as input. While there is ongoing research on enabling camera calibration using natural images, many systems in…
LiDAR-camera extrinsic calibration is essential for multi-modal data fusion in robotic perception systems. However, existing approaches typically rely on handcrafted calibration targets (e.g., checkerboards) or specific, static scene types,…
This report accompanies a dataset release on visual and thermal camera data and details a procedure followed to align such multi-modal camera frames in order to provide pixel-level correspondence between the two without using intrinsic or…
Calibration of multi-camera systems is a key task for accurate object tracking. However, it remains a challenging problem in real-world conditions, where traditional methods are not applicable due to the lack of accurate floor plans,…
Complementing images with inertial measurements has become one of the most popular approaches to achieve highly accurate and robust real-time camera pose tracking. In this paper, we present a keyframe-based approach to visual-inertial…
The thermal camera excels at perceiving outdoor environments under low-light conditions, making it ideal for applications such as nighttime autonomous driving and unmanned navigation. However, thermal cameras encounter challenges when…