相关论文: Robust Camera-to-Mocap Calibration and Verificatio…
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…
A Manhattan world lying along cuboid buildings is useful for camera angle estimation. However, accurate and robust angle estimation from fisheye images in the Manhattan world has remained an open challenge because general scene images tend…
In the proposed study, we describe an approach to improving the computational efficiency and robustness of visual SLAM algorithms on mobile robots with multiple cameras and limited computational power by implementing an intermediate layer…
Objective: Stage-wise workflows that separate model scaling and inverse kinematics can induce morphology-posture compensation, resulting in anatomically inconsistent yet numerically acceptable solutions, especially in weakly observed…
Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…
The accuracy of monocular 3D human pose estimation depends on the viewpoint from which the image is captured. While freely moving cameras, such as on drones, provide control over this viewpoint, automatically positioning them at the…
Many robotic tasks rely on the accurate localization of moving objects within a given workspace. This information about the objects' poses and velocities are used for control,motion planning, navigation, interaction with the environment or…
Chemical multisensor devices need calibration algorithms to estimate gas concentrations. Their possible adoption as indicative air quality measurements devices poses new challenges due to the need to operate in continuous monitoring modes…
Multiple cameras can provide comprehensive multi-view video coverage of a person. Fusing this multi-view data is crucial for tasks like behavioral analysis, although it traditionally requires camera calibration, a process that is often…
For tracking and motion capture (MoCap) of animals in their natural habitat, a formation of safe and silent aerial platforms, such as airships with on-board cameras, is well suited. In our prior work we derived formation properties for…
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…
Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain…
Training state-of-the-art models for human body pose and shape recovery from images or videos requires datasets with corresponding annotations that are really hard and expensive to obtain. Our goal in this paper is to study whether poses…
Making multi-camera visual SLAM systems easier to set up and more robust to the environment is attractive for vision robots. Existing monocular and binocular vision SLAM systems have narrow sensing Field-of-View (FoV), resulting in…
In this paper we perform an experimental comparison of three different target based 3D-LIDAR camera calibration algorithms. We briefly elucidate the mathematical background behind each method and provide insights into practical aspects like…
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…
Robot manipulation, especially bimanual manipulation, often requires setting up multiple cameras on multiple robot manipulators. Before robot manipulators can generate motion or even build representations of their environments, the cameras…
As cooperative systems that leverage roadside cameras to assist autonomous vehicle perception become increasingly widespread, large-scale precise calibration of infrastructure cameras has become a critical issue. Traditional manual…
Gyroscopes are crucial for accurate angular velocity measurements in navigation, stabilization, and control systems. MEMS gyroscopes offer advantages like compact size and low cost but suffer from errors and inaccuracies that are complex…
Accurate calibration is crucial for using multiple cameras to triangulate the position of objects precisely. However, it is also a time-consuming process that needs to be repeated for every displacement of the cameras. The standard approach…