相关论文: A Simple Self-calibration Method for The Internal …
In this paper, we present INertial Lidar Localisation Autocalibration And MApping (IN2LAAMA): an offline probabilistic framework for localisation, mapping, and extrinsic calibration based on a 3D-lidar and a 6-DoF-IMU. Most of today's…
Self-injection locking of a diode laser to a high-quality-factor microresonator is widely used for frequency stabilization and linewidth narrowing. We constructed several microresonator-based laser sources with measured instantaneous…
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…
The integrated inertial system, typically integrating an IMU and an exteroceptive sensor such as radar, LiDAR, and camera, has been widely accepted and applied in modern robotic applications for ego-motion estimation, motion control, or…
Calibration is commonly evaluated by comparing model confidence with its empirical correctness, implicitly treating reliability as a function of the confidence score alone. However, this view can hide substantial structure: models may be…
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…
This paper describes a new all-digital technique for calibration of the mismatches in time-interleaved analog-to-digital converters (TIADCs) to reduce the circuit area. The proposed technique gives the first order approximation of the gain…
Gradient Clock Synchronization (GCS) is the task of minimizing the \emph{local skew,} i.e., the clock offset between neighboring clocks, in a larger network. While asymptotically optimal bounds are known, from a practical perspective they…
This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method leverages LiDAR point cloud measurements from planes in the…
The multi-modal perception methods are thriving in the autonomous driving field due to their better usage of complementary data from different sensors. Such methods depend on calibration and synchronization between sensors to get accurate…
Multi-LiDAR systems have been prevalently applied in modern autonomous vehicles to render a broad view of the environments. The rapid development of 5G wireless technologies has brought a breakthrough for current cellular…
Multimodal sensor fusion enables robust environmental perception by leveraging complementary information from heterogeneous sensing modalities. However, accurate calibration is a critical prerequisite for effective fusion. This paper…
We consider a semi-Lagrangian scheme for solving the minimum time problem, with a given target, and the associated eikonal type equation. We first use a discrete time deterministic optimal control problem interpretation of the time…
Automated driving systems use multi-modal sensor suites to ensure the reliable, redundant and robust perception of the operating domain, for example camera and LiDAR. An accurate extrinsic calibration is required to fuse the camera and…
We apply the multigrid-reduction-in-time (MGRIT) algorithm to an eddy current simulation of a two-dimensional induction machine supplied by a pulse-width-modulation signal. To resolve the fast-switching excitations, small time steps are…
Several ways to electronically synchronize different types of amplified femtosecond laser systems are presented, based on a single freely programmable electronics hardware: Arbitrary-detuning asynchronous optical sampling, as well as…
With the recent advances in autonomous driving and the decreasing cost of LiDARs, the use of multimodal sensor systems is on the rise. However, in order to make use of the information provided by a variety of complimentary sensors, it is…
Stereo cameras and dense stereo matching algorithms are core components for many robotic applications due to their abilities to directly obtain dense depth measurements and their robustness against changes in lighting conditions. However,…
Light detection and ranging (LiDAR) systems are pivotal for precise distance and velocity measurement, yet widespread deployment requires solutions that balance their performance, robustness, and simplicity. Here, we propose a novel chaotic…
Context. The QUBIC collaboration is building a bolometric interferometer dedicated to the detection of B-mode polarization fluctuations in the Cosmic Microwave Background. Aims. We introduce a self-calibration procedure related to those…