相关论文: Tame a Wild Camera: In-the-Wild Monocular Camera C…

Monocular camera calibration is a key precondition for numerous 3D vision applications. Despite considerable advancements, existing methods often hinge on specific assumptions and struggle to generalize across varied real-world scenarios,…

Perceiving 3D information is of paramount importance in many applications of computer vision. Recent advances in monocular depth estimation have shown that gaining such knowledge from a single camera input is possible by training deep…

Advances in autonomous driving are inseparable from sensor fusion. Heterogeneous sensors are widely used for sensor fusion due to their complementary properties, with radar and camera being the most equipped sensors. Intrinsic and extrinsic…

In this paper, we present DM-Calib, a diffusion-based approach for estimating pinhole camera intrinsic parameters from a single input image. Monocular camera calibration is essential for many 3D vision tasks. However, most existing methods…

Sensor-based environmental perception is a crucial step for autonomous driving systems, for which an accurate calibration between multiple sensors plays a critical role. For the calibration of LiDAR and camera, the existing method is…

Camera calibration is a fundamental prerequisite for reliable geometric perception, yet classical approaches rely on controlled acquisition setups that are impractical for in-the-wild imagery. Recent learning-based methods have shown…

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…

Automatic calibration of multi-camera systems, namely the accurate estimation of spatial extrinsic parameters, is fundamental for 3D reconstruction, panoramic perception, and multi-view data fusion. Existing methods typically rely on…

Camera calibration is a necessity in various tasks including 3D reconstruction, hand-eye coordination for a robotic interaction, autonomous driving, etc. In this work we propose a novel method to predict extrinsic (baseline, pitch, and…

We present a novel method for simultaneous learning of depth, egomotion, object motion, and camera intrinsics from monocular videos, using only consistency across neighboring video frames as supervision signal. Similarly to prior work, our…

We present AnyCalib, a method for calibrating the intrinsic parameters of a camera from a single in-the-wild image, that is agnostic to the camera model. Current methods are predominantly tailored to specific camera models and/or require…

Monocular camera sensors are vital to intelligent vehicle operation and automated driving assistance and are also heavily employed in traffic control infrastructure. Calibrating the monocular camera, though, is time-consuming and often…

Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…

This letter proposes an extrinsic calibration approach for a pair of monocular camera and prism-spinning solid-state LiDAR. The unique characteristics of the point cloud measured resulting from the flower-like scanning pattern is first…

In the recent years, many methods demonstrated the ability of neural networks to learn depth and pose changes in a sequence of images, using only self-supervision as the training signal. Whilst the networks achieve good performance, the…

Most 3D reconstruction methods may only recover scene properties up to a global scale ambiguity. We present a novel approach to single view metrology that can recover the absolute scale of a scene represented by 3D heights of objects or…

LiDARs are widely used for mapping and localization in dynamic environments. However, their high cost limits their widespread adoption. On the other hand, monocular localization in LiDAR maps using inexpensive cameras is a cost-effective…

The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera…

For a number of tasks, such as 3D reconstruction, robotic interface, autonomous driving, etc., camera calibration is essential. In this study, we present a unique method for predicting intrinsic (principal point offset and focal length) and…

The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…