相关论文: MARSCalib: Multi-robot, Automatic, Robust, Spheric…

LiDAR-camera extrinsic calibration (LCEC) is crucial for data fusion in intelligent vehicles. Offline, target-based approaches have long been the preferred choice in this field. However, they often demonstrate poor adaptability to…

The purpose of this study is to develop an automated and accurate external camera calibration method for multi-camera systems used in 3D surgical scene reconstruction (3D-SSR), eliminating the need for operator intervention or specialized…

This work proposes a novel motion guided method for target-less self-calibration of a LiDAR and camera and use the re-projection of LiDAR points onto the image reference frame for real-time depth upsampling. The calibration parameters are…

As an essential procedure of data fusion, LiDAR-camera calibration is critical for autonomous vehicles and robot navigation. Most calibration methods rely on hand-crafted features and require significant amounts of extracted features or…

We propose a solution for sensor extrinsic self-calibration with very low time complexity, competitive accuracy and graceful handling of often-avoided corner cases: drift in calibration parameters and unobservable directions in 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…

Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…

To achieve the sensitivity required to detect signals from neutral hydrogen from the Cosmic Dawn and Epoch of Reionisation it is critical to have a well-calibrated instrument which has a stable calibration over the course of the…

Estimating camera intrinsic parameters without prior scene knowledge is a fundamental challenge in computer vision. This capability is particularly important for applications such as autonomous driving and vehicle platooning, where…

Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…

This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…

Reliable multimodal sensor fusion algorithms require accurate spatiotemporal calibration. Recently, targetless calibration techniques based on implicit neural representations have proven to provide precise and robust results. Nevertheless,…

Motivated by the increasing application of low-resolution LiDAR recently, we target the problem of low-resolution LiDAR-camera calibration in this work. The main challenges are two-fold: sparsity and noise in point clouds. To address the…

Autonomous systems often employ multiple LiDARs to leverage the integrated advantages, enhancing perception and robustness. The most critical prerequisite under this setting is the estimating the extrinsic between each LiDAR, i.e.,…

With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make…

Owing to the capability for reliable and all-weather long-range sensing, the fusion of LiDAR and Radar has been widely applied to autonomous vehicles for robust perception. In practical operation, well manually calibrated extrinsic…

This paper explores the use of an entropy-based technique for point cloud reconstruction with the goal of calibrating a lidar to a sensor capable of providing egomotion information. We extend recent work in this area to the problem of…

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…

This paper presents a framework for the targetless extrinsic calibration of stereo cameras and Light Detection and Ranging (LiDAR) sensors with a non-overlapping Field of View (FOV). In order to solve the extrinsic calibrations problem…

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…