相关论文: Continuous-Time Spatiotemporal Calibration of a Ro…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
Physically reduced-scale vehicles are emerging to accelerate the development of advanced automated driving functions. In this paper, we investigate the effects of scaling on self-localization accuracy with visual and visual-inertial…
Visual-inertial navigation systems are powerful in their ability to accurately estimate localization of mobile systems within complex environments that preclude the use of global navigation satellite systems. However, these navigation…
Camera rotation estimation from a single image is a challenging task, often requiring depth data and/or camera intrinsics, which are generally not available for in-the-wild videos. Although external sensors such as inertial measurement…
Computer vision (CV) pipelines are typically evaluated on datasets processed by image signal processing (ISP) pipelines even though, for resource-constrained applications, an important research goal is to avoid as many ISP steps as…
The internal geometry of most modern consumer cameras is not adequately described by the perspective projection. Almost all cameras exhibit some radial lens distortion and are equipped with an electronic rolling shutter that induces…
Recent advancements in visual-inertial motion capture systems have demonstrated the potential of combining monocular cameras with sparse inertial measurement units (IMUs) as cost-effective solutions, which effectively mitigate occlusion and…
Monocular visual odometry (VO) and simultaneous localization and mapping (SLAM) have seen tremendous improvements in accuracy, robustness and efficiency, and have gained increasing popularity over recent years. Nevertheless, not so many…
A key challenge facing reconfigurable intelligent surfaces (RISs) is channel state information acquisition. Passive RISs cannot generate pilot signals or process data, making rapid temporal changes in the channel problematic. Additionally,…
For distant iris recognition, a long focal length lens is generally used to ensure the resolution ofiris images, which reduces the depth of field and leads to potential defocus blur. To accommodate users at different distances, it is…
A method is proposed for assessing the temporal resolution of Structured Illumination Microscopy (SIM), by tracking the amplitude of different spatial frequency components over time, and comparing them to a temporally-oscillating…
The multi-sensory setups consisting of the laser scanners and cameras are popular as the measurements complement each other and provide necessary robustness for applications. Under dynamic conditions or when in motion, a direct…
Radar-Inertial Odometry (RIO) has emerged as a robust alternative to vision- and LiDAR-based odometry in challenging conditions such as low light, fog, featureless environments, or in adverse weather. However, many existing RIO approaches…
Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…
In this paper, we argue that modern pre-integration methods for inertial measurement units (IMUs) are accurate enough to ignore the drift for short time intervals. This allows us to consider a simplified camera model, which in turn admits…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
The purpose of this study is to develop an automated and accurate external camera calibration method for multi-camera systems used in 3D surgical scene reconstruction (3D-SSR), eliminating the need for operator intervention or specialized…
Localization and mapping with heterogeneous multi-sensor fusion have been prevalent in recent years. To adequately fuse multi-modal sensor measurements received at different time instants and different frequencies, we estimate the…
The spatial sensitivity of an ultrasound transducer, which strongly influences its suitability for different applications, depends on the shape of the transducer surface. Accurate simulation of these spatial effects is important for…
Accurate reference trajectories are required to validate autonomous agricultural robots and highly automated off-road vehicles under real-world field conditions. In practice, robotic total stations provide millimeter-level prism center…