相关论文: eKalibr-Stereo: Continuous-Time Spatiotemporal Cal…
The bioinspired event camera, distinguished by its exceptional temporal resolution, high dynamic range, and low power consumption, has been extensively studied in recent years for motion estimation, robotic perception, and object detection.…
The bio-inspired event camera has garnered extensive research attention in recent years, owing to its significant potential derived from its high dynamic range and low latency characteristics. Similar to the standard camera, the event…
Event camera, a bio-inspired asynchronous triggered camera, offers promising prospects for fusion with frame-based cameras owing to its low latency and high dynamic range. However, calibrating stereo vision systems that incorporate both…
Event cameras triggered a paradigm shift in the computer vision community delineated by their asynchronous nature, low latency, and high dynamic range. Calibration of event cameras is always essential to account for the sensor intrinsic…
Event cameras generate asynchronous signals in response to pixel-level brightness changes, offering a sensing paradigm with theoretically microsecond-scale latency that can significantly enhance the performance of multi-sensor systems.…
The integrated inertial system, typically integrating an IMU and an exteroceptive sensor such as radar, LiDAR, and camera, has been widely accepted and applied in modern robotic applications for ego-motion estimation, motion control, or…
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…
Camera calibration is an essential prerequisite for event-based vision applications. Current event camera calibration methods typically involve using flashing patterns, reconstructing intensity images, and utilizing the features extracted…
Event cameras are a new type of brain-inspired visual sensor with advantages such as high dynamic range and high temporal resolution. The geometric calibration of event cameras, which involves determining their intrinsic and extrinsic…
We address the problem of optical decalibration in mobile stereo camera setups, especially in context of autonomous vehicles. In real world conditions, an optical system is subject to various sources of anticipated and unanticipated…
3D object detection is essential for autonomous systems, enabling precise localization and dimension estimation. While LiDAR and RGB cameras are widely used, their fixed frame rates create perception gaps in high-speed scenarios. Event…
Camera calibration is an important prerequisite towards the solution of 3D computer vision problems. Traditional methods rely on static images of a calibration pattern. This raises interesting challenges towards the practical usage of event…
Event-based cameras are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…
Many mobile robotic platforms rely on an accurate knowledge of the extrinsic calibration parameters, especially systems performing visual stereo matching. Although a number of accurate stereo camera calibration methods have been developed,…
Event stereo matching is an emerging technique to estimate depth from neuromorphic cameras; however, events are unlikely to trigger in the absence of motion or the presence of large, untextured regions, making the correspondence problem…
Stereopsis has widespread appeal in robotics as it is the predominant way by which living beings perceive depth to navigate our 3D world. Event cameras are novel bio-inspired sensors that detect per-pixel brightness changes asynchronously,…
Event cameras are novel bio-inspired vision sensors that output pixel-level intensity changes in microsecond accuracy with a high dynamic range and low power consumption. Despite these advantages, event cameras cannot be directly applied to…
In this paper, we present TEScalib, a novel extrinsic self-calibration approach of LiDAR and stereo camera using the geometric and photometric information of surrounding environments without any calibration targets for automated driving…
The combination of LiDARs and cameras enables a mobile robot to perceive environments with multi-modal data, becoming a key factor in achieving robust perception. Traditional frame cameras are sensitive to changing illumination conditions,…
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…