相关论文: Globally Optimal GNSS Multi-Antenna Lever Arm Cali…
Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satellite availability. Existing methods for this alignment task…
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…
Accurate and reliable sensor calibration is critical for fusing LiDAR and inertial measurements in autonomous driving. This paper proposes a novel three-stage extrinsic calibration method between LiDAR and GNSS/INS for autonomous driving.…
Accurate extrinsic calibration between multiple LiDAR sensors and a GNSS-aided inertial navigation system (GINS) is essential for achieving reliable sensor fusion in intelligent mining environments. Such calibration enables vehicle-road…
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…
We present a certifiably globally optimal algorithm for determining the extrinsic calibration between two sensors that are capable of producing independent egomotion estimates. This problem has been previously solved using a variety of…
While automotive radar sensors are widely adopted and have been used for automatic cruise control and collision avoidance tasks, their application outside of vehicles is still limited. As they have the ability to resolve multiple targets in…
Perception is one of the key abilities of autonomous mobile robotic systems, which often relies on fusion of heterogeneous sensors. Although this heterogeneity presents a challenge for sensor calibration, it is also the main prospect for…
Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude…
Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…
We propose a certifiably globally optimal approach for solving the hand-eye robot-world problem supporting multiple sensors and targets at once. Further, we leverage this formulation for estimating a geo-referenced calibration of…
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…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…
With the recent advances in autonomous driving and the decreasing cost of LiDARs, the use of multimodal sensor systems is on the rise. However, in order to make use of the information provided by a variety of complimentary sensors, it is…
High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…
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…