相关论文: Robust Camera-to-Mocap Calibration and Verificatio…
Modern multi-object tracking (MOT) systems usually model the trajectories by associating per-frame detections. However, when camera motion, fast motion, and occlusion challenges occur, it is difficult to ensure long-range tracking or even…
Wide-angle cameras are uniquely positioned for mobile robots, by virtue of the rich information they provide in a small, light, and cost-effective form factor. An accurate calibration of the intrinsics and extrinsics is a critical…
Camera calibration is a fundamental prerequisite for reliable geometric perception, yet classical approaches rely on controlled acquisition setups that are impractical for in-the-wild imagery. Recent learning-based methods have shown…
Determining the extrinsic parameter between multiple LiDARs and cameras is essential for autonomous robots, especially for solid-state LiDARs, where each LiDAR unit has a very small Field-of-View (FoV), and multiple units are often used…
This paper describes CALICO, a method for multi-camera calibration suitable for challenging contexts: stationary and mobile multi-camera systems, cameras without overlapping fields of view, and non-synchronized cameras. Recent approaches…
The accuracy, resilience, and affordability of localisation are fundamental to autonomous robotic inspection within aircraft maintenance and overhaul (MRO) hangars. Hangars typically feature tall ceilings and are often made of materials…
Hyperspectral cameras have recently been miniaturized for operation on lightweight airborne platforms such as UAV or small aircraft. Unlike frame cameras (RGB or Multispectral), many hyperspectral sensors use a linear array or 'push-broom'…
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…
Conventional single LiDAR systems are inherently constrained by their limited field of view (FoV), leading to blind spots and incomplete environmental awareness, particularly on robotic platforms with strict payload limitations. Integrating…
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…
In autonomous systems, sensor calibration is essential for safe and efficient navigation in dynamic environments. Accurate calibration is a prerequisite for reliable perception and planning tasks such as object detection and obstacle…
Precise LiDAR-camera calibration is crucial for integrating these two sensors into robotic systems to achieve robust perception. In applications like autonomous driving, online targetless calibration enables a prompt sensor misalignment…
Vision-language models like CLIP show impressive ability to align images and text, but their training on short, concise captions makes them struggle with lengthy, detailed descriptions. Recent advances mitigate this challenge by leveraging…
This paper presents MFCalib, an innovative extrinsic calibration technique for LiDAR and RGB camera that operates automatically in targetless environments with a single data capture. At the heart of this method is using a rich set of edge…
Platforms such as robots, security cameras, drones and satellites are used in multi-view imaging for three-dimensional (3D) recovery by stereoscopy or tomography. Each camera in the setup has a field of view (FOV). Multi-view analysis…
The integration of multiple cameras and 3D Li- DARs has become basic configuration of augmented reality devices, robotics, and autonomous vehicles. The calibration of multi-modal sensors is crucial for a system to properly function, but it…
Visual perception is regularly used by humans and robots for navigation. By either implicitly or explicitly mapping the environment, ego-motion can be determined and a path of actions can be planned. The process of mapping and navigation…
Spatial scene-understanding, including dense depth and ego-motion estimation, is an important problem in computer vision for autonomous vehicles and advanced driver assistance systems. Thus, it is beneficial to design perception modules…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
We propose ORBSLAM-Atlas, a system able to handle an unlimited number of disconnected sub-maps, that includes a robust map merging algorithm able to detect sub-maps with common regions and seamlessly fuse them. The outstanding robustness…