相关论文: Ca$^2$Lib: Simple and Accurate LiDAR-RGB Calibrati…

Constructing precise global maps is a key task in robotics and is required for localization, surveying, monitoring, or constructing digital twins. To build accurate maps, data from mobile 3D LiDAR sensors is often used. Mapping requires…

The recent years have given rise to a large number of techniques for "looking around corners", i.e., for reconstructing occluded objects from time-resolved measurements of indirect light reflections off a wall. While the direct view of…

The goal of extrinsic calibration is the alignment of sensor data to ensure an accurate representation of the surroundings and enable sensor fusion applications. From a safety perspective, sensor calibration is a key enabler of autonomous…

Nearly all 3D displays need calibration for correct rendering. More often than not, the optical elements in a 3D display are misaligned from the designed parameter setting. As a result, 3D magic does not perform well as intended. The…

This paper presents a novel 3D mapping robot with an omnidirectional field-of-view (FoV) sensor suite composed of a non-repetitive LiDAR and an omnidirectional camera. Thanks to the non-repetitive scanning nature of the LiDAR, an automatic…

In view of contemporary panoramic camera-laser scanner system, the traditional calibration method is not suitable for panoramic cameras whose imaging model is extremely nonlinear. The method based on statistical optimization has the…

The homogeneous transformation between a LiDAR and monocular camera is required for sensor fusion tasks, such as SLAM. While determining such a transformation is not considered glamorous in any sense of the word, it is nonetheless crucial…

Camera calibration using planar targets has been widely favored, and two types of control points have been mainly considered as measurements: the corners of the checkerboard and the centroid of circles. Since a centroid is derived from…

Visual-inertial systems have been widely studied and applied in the last two decades (from the early 2000s to the present), mainly due to their low cost and power consumption, small footprint, and high availability. Such a trend…

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…

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…

Conventional multi-projector calibration requires projecting and capturing structured light patterns for each projector sequentially, causing calibration time and effort to increase linearly with the number of projectors. This scalability…

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.…

Multi-modal object detection in autonomous driving has achieved great breakthroughs due to the usage of fusing complementary information from different sensors. The calibration in fusion between sensors such as LiDAR and camera was always…

Recently, multi-sensors fusion has achieved significant progress in the field of automobility to improve navigation and position performance. As the prerequisite of the fusion algorithm, the demand for the extrinsic calibration of…

Reconstructing an accurate and consistent large-scale LiDAR point cloud map is crucial for robotics applications. The existing solution, pose graph optimization, though it is time-efficient, does not directly optimize the mapping…

There are many geometric calibration methods for "standard" cameras. These methods, however, cannot be used for the calibration of telescopes with large focal lengths and complex off-axis optics. Moreover, specialized calibration methods…

This paper presents a large-scale strip adjustment method for LiDAR mobile mapping data, yielding highly precise maps. It uses several concepts to achieve scalability. First, an efficient graph-based pre-segmentation is used, which directly…

Chemical multisensor devices need calibration algorithms to estimate gas concentrations. Their possible adoption as indicative air quality measurements devices poses new challenges due to the need to operate in continuous monitoring modes…

We propose a minimal solution for the similarity registration (rigid pose and scale) between two sets of 3D lines, and also between a set of co-planar points and a set of 3D lines. The first problem is solved up to 8 discrete solutions with…