相关论文: GRIL-Calib: Targetless Ground Robot IMU-LiDAR Extr…
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…
LiDAR-camera extrinsic calibration (LCEC) is crucial for multi-modal data fusion in autonomous robotic systems. Existing methods, whether target-based or target-free, typically rely on customized calibration targets or fixed scene types,…
The calibration of extrinsic parameters and clock offsets between sensors for high-accuracy performance in underwater SLAM systems remains insufficiently explored. Existing methods for Doppler Velocity Log (DVL) calibration are either…
We introduce a self-calibration method that can be applied to the intrinsic ellipticity--intrinsic ellipticity (II) and gravitational shear -- intrinsic ellipticity (GI) types of intrinsic alignment of galaxies. The method combines previous…
For most LiDAR-inertial odometry, accurate initial states, including temporal offset and extrinsic transformation between LiDAR and 6-axis IMUs, play a significant role and are often considered as prerequisites. However, such information…
We present a robot kinematic calibration method that combines complementary calibration approaches: self-contact, planar constraints, and self-observation. We analyze the estimation of the end effector parameters, joint offsets of the…
Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…
In this paper we present a novel algorithm for onboard radial distortion correction for unmanned aerial vehicles (UAVs) equipped with an inertial measurement unit (IMU), that runs in real-time. This approach makes calibration procedures…
This paper presents a groundbreaking approach - the first online automatic geometric calibration method for radar and camera systems. Given the significant data sparsity and measurement uncertainty in radar height data, achieving automatic…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system…
Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as…
We present a novel scalable, fully distributed, and online method for simultaneous localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot poses are probabilistically inferred as robots sense each…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
Autonomous robotic systems heavily rely on environment knowledge to safely navigate. For search & rescue, a flying robot requires robust real-time perception, enabled by complementary sensors. IMU data constrains acceleration and rotation,…
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…
Multi-modal sensor integration has become a crucial prerequisite for the real-world navigation systems. Recent studies have reported successful deployment of such system in many fields. However, it is still challenging for navigation tasks…
Correct radar data fusion depends on knowledge of the spatial transform between sensor pairs. Current methods for determining this transform operate by aligning identifiable features in different radar scans, or by relying on measurements…
Calibration is an essential prerequisite for the accurate data fusion of LiDAR and camera sensors. Traditional calibration techniques often require specific targets or suitable scenes to obtain reliable 2D-3D correspondences. To tackle the…
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…
Future cosmic microwave background (CMB) experiments are primarily targeting a detection of the primordial $B$-mode polarisation. The faintness of this signal requires exquisite control of systematic effects which may bias the measurements.…