相关论文: Semi-Automatic Infrared Calibration for Augmented …
Purpose: Image guidance is crucial for the success of many interventions. Images are displayed on designated monitors that cannot be positioned optimally due to sterility and spatial constraints. This indirect visualization causes potential…
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…
Irreversible electroporation (IRE) is a soft tissue ablation technique suitable for treatment of inoperable tumours in the pancreas. The process involves applying a high voltage electric field to the tissue containing the mass using needle…
Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a…
Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a robot in order to express the data extracted by the sensor in…
Although Neural Radiance Fields (NeRFs) have markedly improved novel view synthesis, accurate uncertainty quantification in their image predictions remains an open problem. The prevailing methods for estimating uncertainty, including the…
Intuitive robot programming through use of tracked smart input devices relies on fixed, external tracking systems, most often employing infra-red markers. Such an approach is frequently combined with projector-based augmented reality for…
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…
We propose an algorithm for automatic, targetless, extrinsic calibration of a LiDAR and camera system using semantic information. We achieve this goal by maximizing mutual information (MI) of semantic information between sensors, leveraging…
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…
Sensor fusion of a MEMS IMU with a magnetometer is a popular system design, because such 9-DoF (degrees of freedom) systems are capable of achieving drift-free 3D orientation tracking. However, these systems are often vulnerable to ambient…
Most sensor setups for onboard autonomous perception are composed of LiDARs and vision systems, as they provide complementary information that improves the reliability of the different algorithms necessary to obtain a robust scene…
For many computer vision applications, the availability of camera calibration data is crucial as overall quality heavily depends on it. While calibration data is available on some devices through Augmented Reality (AR) frameworks like…
One huge advantage of Augmented Reality (AR) is its numerous possibilities of displaying information in the physical world, especially when applying Situated Analytics (SitA). AR devices and their respective interaction techniques allow for…
We propose a novel edge-assisted multi-user collaborative augmented reality framework in a large indoor environment. In Collaborative Augmented Reality, data communication that synchronizes virtual objects has large network traffic and high…
Properly-calibrated sensors are the prerequisite for a dependable autonomous driving system. However, most prior methods focus on extrinsic calibration between sensors, and few focus on the misalignment between the sensors and the vehicle…
Accurate spatiotemporal calibration is a prerequisite for multisensor fusion. However, sensors are typically asynchronous, and there is no overlap between the fields of view of cameras and LiDARs, posing challenges for intrinsic and…
Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…
Within this thesis we propose a platform for combining Augmented Reality (AR) hardware with machine learning in a user-oriented pipeline, offering to the medical staff an intuitive 3D visualization of volumetric Computed Tomography (CT) and…
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating…