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A Robust Extrinsic Calibration Framework for Vehicles with Unscaled Sensors
2019
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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To solve these limitations, we propose a flexible framework which can estimate extrinsic parameters without an explicit calibration stage, even for sensors with unknown scale. ...
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. ...
This means that algorithms which operate on unscaled sensors such as Visual Odometry (VO) may be combined with other data sources in a metric sensor fusion framework. ...
doi:10.1109/iros40897.2019.8968244
dblp:conf/iros/WaltersMHB19
fatcat:xqtbr7j5uvhb5fdrftg6wyacwm
A Robust Extrinsic Calibration Framework for Vehicles with Unscaled Sensors
[article]
2021
pre-print
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To solve these limitations, we propose a flexible framework which can estimate extrinsic parameters without an explicit calibration stage, even for sensors with unknown scale. ...
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. ...
This means that algorithms which operate on unscaled sensors such as Visual Odometry (VO) may be combined with other data sources in a metric sensor fusion framework. ...
doi:10.1109/iros40897.2019.8968244.
arXiv:2103.09641v1
fatcat:kbehbexj4nggrpnmg5ircw42q4
Fast automatic camera network calibration through human mesh recovery
2020
Journal of Real-Time Image Processing
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In this paper we present an unsupervised and automatic framework for the estimation of the extrinsic parameters of a camera network, which leverages on optimised 3D human mesh recovery from a single image ...
Camera calibration is a necessary preliminary step in computer vision for the estimation of the position of objects in the 3D world. ...
Acknowledgements This research was developed within the framework of the project AUSILIA (2015-2020), funded by the Autonomous Province of Trento (Italy). ...
doi:10.1007/s11554-020-01002-w
fatcat:efoh4ocqpjdvfmahnypxd3savm
A Collaborative Framework for High-Definition Mapping
[article]
2019
arXiv
pre-print
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We present a collaborative framework for high-definition mapping, in which vehicles equipped with standard sensors, such as a GNSS receiver and a mono-visual camera, update a map of geo-localized landmarks ...
For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. ...
SYSTEM OVERVIEW For our framework to be fully cooperative, we consider all connected vehicles equipped with the following set of standard sensors: a GNSS receiver and a mono-visual camera. ...
arXiv:1910.06014v1
fatcat:3foqoltokfg57mn5sf6gsejtdy
A Collaborative Framework for High-Definition Mapping
2019
2019 IEEE Intelligent Transportation Systems Conference (ITSC)
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We present a collaborative framework for high-definition mapping, in which vehicles equipped with standard sensors, such as a GNSS receiver and a mono-visual camera, update a map of geolocalized landmarks ...
For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. ...
We present a collaborative framework for high-definition mapping, in which vehicles equipped with standard sensors, such as a GNSS receiver and a mono-visual camera, update a map of geolocalized landmarks ...
doi:10.1109/itsc.2019.8917292
dblp:conf/itsc/Stoven-DuboisMD19
fatcat:ljrb6lg5drbxbklm7zju4u77dm
Fast localization and 3D mapping using an RGB-D sensor
2013
2013 16th International Conference on Advanced Robotics (ICAR)
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Moreover, a multiple resolution approach led by the distance of the sensor from surrounding obstacles is proposed for the depth data acquisition process. ...
Low-cost range sensors represent an interesting class of sensors which are increasingly used for localization and mapping purposes in robotics.The combination of depth data and visual information can be ...
We assume that the intrinsic and the extrinsic calibration parameters are available for both the IR and for the RGB camera. ...
doi:10.1109/icar.2013.6766558
dblp:conf/icar/LoiannoLS13
fatcat:ephdc6mjcbeybaohuy4633crpu
Analysis of the Influence of Training Data on Road User Detection
2018
2018 IEEE International Conference on Vehicular Electronics and Safety (ICVES)
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Stiller and the other members of the MRT team for the four months that I spent there. ...
A todos ellos quiero agradecerles el haber contribuido a que el día a día fuera un placer, más que un trabajo. ...
extrinsic calibration. ...
doi:10.1109/icves.2018.8519510
dblp:conf/icves/Guindel0AS18
fatcat:fu3cvrvkdjeivndsipd4hnhnqy
Trajectory Optimization for Self-Calibration and Navigation
2017
Robotics: Science and Systems XIII
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We show that the optimized trajectories lead to more accurate navigation while eliminating the need for a separate calibration procedure. • An optimization framework including a multi-state balancing strategy ...
Trajectory generation approaches for mobile robots generally aim to optimize with respect to a cost function such as energy, execution time, or other mission-relevant parameters within the constraints ...
The proprioceptive system inputs are particularly important for more complex sensor fusion frameworks which include self-calibration states and multiple sensors. ...
doi:10.15607/rss.2017.xiii.054
dblp:conf/rss/PreissHSW17
fatcat:kqr4wf5mb5crvayvh22av6gafi
Monocular Visual Inertial Direct SLAM with Robust Scale Estimation for Ground Robots/Vehicles
2021
Robotics
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In this paper, we present a novel method for visual-inertial odometry for land vehicles. ...
Our technique is robust to unintended, but unavoidable bumps, encountered when an off-road land vehicle traverses over potholes, speed-bumps or general change in terrain. ...
[27] proposed a method of on-the-fly scale estimation and camera-IMU extrinsic calibration but this method is based on sparse key points. ...
doi:10.3390/robotics10010023
fatcat:4hgjdr7idrgulhl3ncckwtzrwm
Self-Calibration and Visual SLAM with a Multi-Camera System on a Micro Aerial Vehicle
2014
Robotics: Science and Systems X
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If vision-based simultaneous localization and mapping (vSLAM) is expected to provide reliable pose estimates for a micro aerial vehicle (MAV) with a multi-camera system, an accurate calibration of the ...
We propose a novel vSLAM-based self-calibration method for a multicamera system that includes at least one calibrated stereo camera, and an arbitrary number of monocular cameras. ...
We explore existing work on SLAM with a multi-camera system (Kaess and Dellaert, 2006; Kim et al., 2008; Carrera et al., 2011a; Harmat et al., 2012; Tribou, 2014) . ...
doi:10.15607/rss.2014.x.008
dblp:conf/rss/HengLP14
fatcat:zcixlq74jfhjhofvk7eqsq4j6i
Self-calibration and visual SLAM with a multi-camera system on a micro aerial vehicle
2015
Autonomous Robots
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If vision-based simultaneous localization and mapping (vSLAM) is expected to provide reliable pose estimates for a micro aerial vehicle (MAV) with a multi-camera system, an accurate calibration of the ...
We propose a novel vSLAM-based self-calibration method for a multicamera system that includes at least one calibrated stereo camera, and an arbitrary number of monocular cameras. ...
We explore existing work on SLAM with a multi-camera system (Kaess and Dellaert, 2006; Kim et al., 2008; Carrera et al., 2011a; Harmat et al., 2012; Tribou, 2014) . ...
doi:10.1007/s10514-015-9466-8
fatcat:gb6yoizpijhzpn7bzmtqmrjtby
Towards Safe, Real-Time Systems: Stereo vs Images and LiDAR for 3D Object Detection
[article]
2022
arXiv
pre-print
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Furthermore, doing so also has calibration benefits with respect to image-only methods. ...
Towards understanding the efficacy of stereo as a replacement for monocular input or LiDAR in object detectors, we show that multimodal learning with traditional disparity algorithms can improve image-based ...
The flexibility of these proposal methodologies combined with the fundamental power of convolutional frameworks in image domains provides for robust potential when optimizing traditional, 2D localization ...
arXiv:2202.12773v1
fatcat:zulrn7ahrzhgfbelzdmcb2ince
Image-Aided Navigation Using Cooperative Binocular Stereopsis
2015
Navigation
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This thesis proposes a novel method for cooperatively estimating the positions of two vehicles in a global reference frame based on synchronized image and inertial information. ...
Instead, the optimal vehicle motion over a single time interval is estimated from the positions of common features using a modified bundle adjustment algorithm and is used as a measurement in a delayed ...
in the sensor-aided IMU framework. ...
doi:10.1002/navi.112
fatcat:xgs6icaixbab7ggkxrncvyk7ri
People detection in RGB-D data
2011
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
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With an equal error rate of 85% in a range up to 8m, the results demonstrate the robustness of HOD and Combo-HOD on a real-world data set collected with a Kinect sensor in a populated indoor environment ...
People detection is a key issue for robots and intelligent systems sharing a space with people. Previous works have used cameras and 2D or 3D range finders for this task. ...
A calibration procedure is required to determine the extrinsic parameters that provide the proper correspondence between the two images. ...
doi:10.1109/iros.2011.6095074
dblp:conf/iros/SpinelloA11
fatcat:d2x7ucghfbavjbmkt7qfk4jjzi
People detection in RGB-D Data
2011
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Preserved Fulltext
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With an equal error rate of 85% in a range up to 8m, the results demonstrate the robustness of HOD and Combo-HOD on a real-world data set collected with a Kinect sensor in a populated indoor environment ...
People detection is a key issue for robots and intelligent systems sharing a space with people. Previous works have used cameras and 2D or 3D range finders for this task. ...
A calibration procedure is required to determine the extrinsic parameters that provide the proper correspondence between the two images. ...
doi:10.1109/iros.2011.6048835
fatcat:vuonsxi42nf7dcwdvrd5ah5x64
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