相关论文: Enhanced Low-resolution LiDAR-Camera Calibration V…
This paper reports a new continuous 3D loss function for learning depth from monocular images. The dense depth prediction from a monocular image is supervised using sparse LIDAR points, which enables us to leverage available open source…
Autonomous vehicles are equipped with a multi-modal sensor setup to enable the car to drive safely. The initial calibration of such perception sensors is a highly matured topic and is routinely done in an automated factory environment.…
Deep stereo matching has made significant progress in recent years. However, state-of-the-art methods are based on expensive 4D cost volume, which limits their use in real-world applications. To address this issue, 3D correlation maps and…
In a multi-sensor fusion system composed of cameras and LiDAR, precise extrinsic calibration contributes to the system's long-term stability and accurate perception of the environment. However, methods based on extracting and registering…
3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…
The fusion of LiDARs and cameras has been increasingly adopted in autonomous driving for perception tasks. The performance of such fusion-based algorithms largely depends on the accuracy of sensor calibration, which is challenging due to…
LiDAR point cloud frame interpolation, which synthesizes the intermediate frame between the captured frames, has emerged as an important issue for many applications. Especially for reducing the amounts of point cloud transmission, it is by…
Nonlinear lens distortion rectification is a common first step in image processing applications where the assumption of a linear camera model is essential. For rectifying the lens distortion, forward distortion model needs to be known.…
This work proposes a method for depth completion of sparse LiDAR data using a convolutional neural network which can be used to generate semi-dense depth maps and "almost" full 3D point-clouds with significantly lower root mean squared…
Accurate camera-LiDAR fusion relies on precise extrinsic calibration, which fundamentally depends on establishing reliable cross-modal correspondences under potentially large misalignments. Existing learning-based methods typically project…
LiDAR sensors can provide dependable 3D spatial information at a low frequency (around 10Hz) and have been widely applied in the field of autonomous driving and UAV. However, the camera with a higher frequency (around 20Hz) has to be…
In this paper, we present a user-friendly LiDAR-camera calibration toolkit that is compatible with various LiDAR and camera sensors and requires only a single pair of laser points and a camera image in targetless environments. Our approach…
Accurate 3D object detection is critical for autonomous driving, necessitating reliable, cost-effective sensors capable of operating in adverse weather conditions. Camera and millimeter-wave radar fusion has emerged as a promising solution;…
Super-resolution of LiDAR range images is crucial to improving many downstream tasks such as object detection, recognition, and tracking. While deep learning has made a remarkable advances in super-resolution techniques, typical…
This paper presents a novel method for fully automatic and convenient extrinsic calibration of a 3D LiDAR and a panoramic camera with a normally printed chessboard. The proposed method is based on the 3D corner estimation of the chessboard…
Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…
Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…
In this paper we perform an experimental comparison of three different target based 3D-LIDAR camera calibration algorithms. We briefly elucidate the mathematical background behind each method and provide insights into practical aspects like…
Change detection from traditional \added{2D} optical images has limited capability to model the changes in the height or shape of objects. Change detection using 3D point cloud \added{from photogrammetry or LiDAR surveying} can fill this…
The research on extrinsic calibration between Light Detection and Ranging(LiDAR) and camera are being promoted to a more accurate, automatic and generic manner. Since deep learning has been employed in calibration, the restrictions on the…