相关论文: An Extrinsic Calibration Method between LiDAR and …
Environment perception is a key component of any autonomous system and is often based on a heterogeneous set of sensors and fusion thereof for which sensor sensor calibration plays fundamental role. It can be divided to intrinsic and…
In this paper we propose a real-time, calibration-agnostic and effective localization system for self-driving cars. Our method learns to embed the online LiDAR sweeps and intensity map into a joint deep embedding space. Localization is then…
Accurate multi-sensor calibration is essential for deploying robust perception systems in applications such as autonomous driving and intelligent transportation. Existing LiDAR-camera calibration methods often rely on manually placed…
The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…
We propose a method for automatic calibration of a traffic surveillance camera with wide-angle lenses. Video footage of a few minutes is sufficient for the entire calibration process to take place. This method takes in the height of the…
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…
With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…
Accurate 3D reconstruction using multi-camera RGB-D systems critically depends on precise extrinsic calibration to achieve proper alignment between captured views. In this paper, we introduce an iterative extrinsic calibration method that…
The integration of multiple cameras and 3D Li- DARs has become basic configuration of augmented reality devices, robotics, and autonomous vehicles. The calibration of multi-modal sensors is crucial for a system to properly function, but it…
LiDARs are usually more accurate than cameras in distance measuring. Hence, there is strong interest to apply LiDARs in autonomous driving. Different existing approaches process the rich 3D point clouds for object detection, tracking and…
The accurate and robust calibration result of sensors is considered as an important building block to the follow-up research in the autonomous driving and robotics domain. The current works involving extrinsic calibration between 3D LiDARs…
Autonomous vehicles and robots need to operate over a wide variety of scenarios in order to complete tasks efficiently and safely. Multi-camera self-supervised monocular depth estimation from videos is a promising way to reason about the…
Targetless IMU-LiDAR extrinsic calibration methods are gaining significant attention as the importance of the IMU-LiDAR fusion system increases. Notably, existing calibration methods derive calibration parameters under the assumption that…
In this paper, we propose a method of targetless and automatic Camera-LiDAR calibration. Our approach is an extension of hand-eye calibration framework to 2D-3D calibration. By using the sensor fusion odometry method, the scaled camera…
The trend towards autonomous driving and the continuous research in the automotive area, like Advanced Driver Assistance Systems (ADAS), requires an accurate localization under all circumstances. An accurate estimation of the vehicle state…
Calibration of multi-camera systems, i.e. determining the relative poses between the cameras, is a prerequisite for many tasks in computer vision and robotics. Camera calibration is typically achieved using offline methods that use…
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highly accurate calibration between them. In this paper, we…
Sensor calibration is crucial for autonomous driving, providing the basis for accurate localization and consistent data fusion. Enabling the use of high-accuracy GNSS sensors, this work focuses on the antenna lever arm calibration. We…
Sensor fusion has become a popular topic in robotics. However, conventional fusion methods encounter many difficulties, such as data representation differences, sensor variations, and extrinsic calibration. For example, the calibration…
Achieving safe and reliable autonomous driving relies greatly on the ability to achieve an accurate and robust perception system; however, this cannot be fully realized without precisely calibrated sensors. Environmental and operational…