相关论文: Continuous-Time Spatiotemporal Calibration of a Ro…

High-quality scene reconstruction and novel view synthesis based on Gaussian Splatting (3DGS) typically require steady, high-quality photographs, often impractical to capture with handheld cameras. We present a method that adapts to camera…

In this paper, we study in-depth the problem of online self-calibration for robust and accurate visual-inertial state estimation. In particular, we first perform a complete observability analysis for visual-inertial navigation systems…

Recently, multi-sensors fusion has achieved significant progress in the field of automobility to improve navigation and position performance. As the prerequisite of the fusion algorithm, the demand for the extrinsic calibration of…

Simultaneous localization and mapping (SLAM) plays a fundamental role in extended reality (XR) applications. As the standards for immersion in XR continue to increase, the demands for SLAM benchmarking have become more stringent. Trajectory…

Global Positioning System (GPS) navigation provides accurate positioning with global coverage, making it a reliable option in open areas with unobstructed sky views. However, signal degradation may occur in indoor spaces and urban canyons.…

Taking advantage of the rolling shutter effect of CMOS cameras in smartphones is a common practice to increase the transfered data rate with visible light communication (VLC) without employing external equipment such as photodiodes. VLC can…

Robust and accurate pose estimation is crucial for many applications in mobile robotics. Extending visual Simultaneous Localization and Mapping (SLAM) with other modalities such as an inertial measurement unit (IMU) can boost robustness and…

In many robotics and VR/AR applications, fast camera motions lead to a high level of motion blur, causing existing camera pose estimation methods to fail. In this work, we propose a novel framework that leverages motion blur as a rich cue…

Relative pose estimation is a fundamental problem in computer vision and it has been studied for conventional global shutter cameras for decades. However, recently, a rolling shutter camera has been widely used due to its low cost imaging…

While camera and LiDAR are widely used in most of the assisted and autonomous driving systems, only a few works have been proposed to associate the temporal synchronization and extrinsic calibration for camera and LiDAR which are dedicated…

This paper presents a dense depth estimation approach from light-field (LF) images that is able to compensate for strong rolling shutter (RS) effects. Our method estimates RS compensated views and dense RS compensated disparity maps. We…

Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…

State estimation is a critical foundational module in robotics applications, where robustness and performance are paramount. Although in recent years, many works have been focusing on improving one of the most widely adopted state…

With the development of autonomous driving technology, sensor calibration has become a key technology to achieve accurate perception fusion and localization. Accurate calibration of the sensors ensures that each sensor can function properly…

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…

In this paper, we propose an approach to address the problem of 3D reconstruction of scenes from a single image captured by a light-field camera equipped with a rolling shutter sensor. Our method leverages the 3D information cues present in…

Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…

The rolling shutter camera has received great attention due to its low cost imaging capability, however, the estimation of relative pose between rolling shutter cameras still remains a difficult problem owing to its line-by-line image…

Small mobile robots are an important class of Search and Rescue Robots. Integrating all required components into such small robots is a difficult engineering task. Smartphones have already been made small, lightweight and cheap by the…

With information from multiple input modalities, sensor fusion-based algorithms usually out-perform their single-modality counterparts in robotics. Camera and LIDAR, with complementary semantic and depth information, are the typical choices…