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Spatio-Temporal Multisensor Calibration Based on Gaussian Processes Moving Object Tracking [article]

Juraj Peršić, Luka Petrović, Ivan Marković, Ivan Petrović
2019 arXiv   pre-print
using GPs, computational efficiency with O(n) complexity, leveraging data already available in autonomous robot platforms, and the end result enabling 3D point-to-point extrinsic multisensor calibration  ...  of a camera and motion capture system.  ...  urban rail traffic (SafeTRAM).  ... 
arXiv:1904.04187v1 fatcat:rwyf3wjb7nce3jltf5tlfgn4wa

Semantic 3D Models from Real World Scene Recordings for Traffic Accident Simulation

Ludwig Mohr, Martin Öttl, Michael Haberl, Matthias Rüther, Horst Bischof
2018 Zenodo  
tuning parameters in traffic flow simulations and for convincing visualization and presentation of simulation results, be it in courts or to policy makers in urban planning.  ...  We present an enclosed pipeline generating 3D objects, their extents and relative positions as well as their semantic class from a combination of photogrammetric recordings and LiDAR (Light Detection And  ...  Acknowledgements This study is part of the project IMPROVE and is financially supported by the FFG, the Austrian Research Promotion Agency of the Austrian Federal Ministry for Transport, Innovation and  ... 
doi:10.5281/zenodo.1487620 fatcat:mniny6y4fvgybgm2d2mkjn4egi

TerraMax™: Team Oshkosh urban robot

Yi-Liang Chen, Venkataraman Sundareswaran, Craig Anderson, Alberto Broggi, Paolo Grisleri,, Pier Paolo Porta, Paolo Zani, John Beck
2008 Journal of Field Robotics  
University, participated in the DARPA Urban Challenge and was one of the 11 teams selected to compete in the final event.  ...  Through development, testing, and participation in the official events, we experimented and demonstrated autonomous truck operations in (controlled) urban streets of California, Wisconsin, and Michigan  ...  The chosen stereo approach avoids explicit computation of camera intrinsic and extrinsic parameters, which would have been impractical, given the choice of using fish-eye lenses to cover a wide area in  ... 
doi:10.1002/rob.20267 fatcat:eomjl7r5nvfqhmojayqlhcet7u

4Seasons: A Cross-Season Dataset for Multi-Weather SLAM in Autonomous Driving [article]

Patrick Wenzel, Rui Wang, Nan Yang, Qing Cheng, Qadeer Khan, Lukas von Stumberg, Niclas Zeller, Daniel Cremers
2020 arXiv   pre-print
This resulted in more than 350 km of recordings in nine different environments ranging from multi-level parking garage over urban (including tunnels) to countryside and highway.  ...  The data was collected in different scenarios and under a wide variety of weather conditions and illuminations, including day and night.  ...  For the intrinsic and extrinsic calibration of the stereo cameras as well as the extrinsic calibration and time-synchronization of the IMU, we use a slightly customized version of Kalibr 1 [32] .  ... 
arXiv:2009.06364v2 fatcat:kj6uhbbfa5euzipczra54mjwpi

V-Sentinel: a novel framework for situational awareness and surveillance

Suya You, Ulrich Neumann, Edward M. Carapezza
2005 Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense IV  
awareness, the V-Sentinel provides users a complete global view of entire surveillance scene including 3D geospatial models of the environment, aerial and terrestrial imagery, real-time videos, and dynamic  ...  government agencies and defense contractors for military and national security applications.  ...  We thank Airborn1 Inc. for providing us with the LiDAR data.  ... 
doi:10.1117/12.603233 fatcat:iun6paiyvvcklpty4rhirjthqu

Towards Full Automated Drive in Urban Environments: A Demonstration in GoMentum Station, California [article]

Akansel Cosgun, Lichao Ma, Jimmy Chiu, Jiawei Huang, Mahmut Demir, Alexandre Miranda Anon, Thang Lian, Hasan Tafish, Samir Al-Stouhi
2017 arXiv   pre-print
In this work, we focus on the technical challenges that arise from AD in urban environments.  ...  Our demonstration showed that robust and consistent behavior in urban scenarios is possible, yet more investigation is necessary for full scale roll-out on public roads.  ...  Using the extrinsic calibration between the Li-DAR and the camera, we can project all the LiDAR points located in front of the camera onto the image.  ... 
arXiv:1705.01187v1 fatcat:hbhele7e3jcy7najx5wtrfw2tu

Review of visual odometry: types, approaches, challenges, and applications

Mohammad O. A. Aqel, Mohammad H. Marhaban, M. Iqbal Saripan, Napsiah Bt. Ismail
2016 SpringerPlus  
Accurate localization of a vehicle is a fundamental challenge in mobile robot applications. A robot must maintain knowledge of its position over time to achieve autonomous navigation.  ...  It allows a vehicle to localize itself robustly by using only a stream of images captured by a camera attached to the vehicle.  ...  LIDAR is mostly used in obstacle detection and avoidance, mapping, and 3D motion capture. LIDAR can be integrated with GPS and INS to enhance the accuracy of outdoor positioning applications.  ... 
doi:10.1186/s40064-016-3573-7 pmid:27843754 pmcid:PMC5084145 fatcat:pfha22xk35gvra22i6sx4ccq2m

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
Extrinsic Calibration of Non-overlapping Stereo Camera and LiDAR using Road Information.  ...  Extrinsic Calibration of Non-overlapping Stereo Camera and LiDAR using Road Information. Jeong, J., +, LRA July 2019 2831-2838 Visual-Inertial Localization With Prior LiDAR Map Constraints.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

VIZARD: Reliable Visual Localization for Autonomous Vehicles in Urban Outdoor Environments [article]

Mathias Bürki, Lukas Schaupp, Marcin Dymczyk, Renaud Dubé, Cesar Cadena, Roland Siegwart, Juan Nieto
2019 arXiv   pre-print
In an extensive experimental evaluation on several hundreds of driving kilometers in challenging urban outdoor environments, we analyze the recall and accuracy of our localization system, investigate its  ...  Changes in appearance is one of the main sources of failure in visual localization systems in outdoor environments.  ...  UsingT t M B and the extrinsics calibration between the vehicle body and the individual camera frames, the landmark 3D points are projected into the current set of images, and matched with extracted keypoints  ... 
arXiv:1902.04343v2 fatcat:uqlthuy2pzckhozqq25nhrd234

A Perception-Driven Autonomous Urban Vehicle [chapter]

John Leonard, Jonathan How, Seth Teller, Mitch Berger, Stefan Campbell, Gaston Fiore, Luke Fletcher, Emilio Frazzoli, Albert Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata (+16 others)
2009 Springer Tracts in Advanced Robotics  
The vehicle architecture was designed to handle the original DARPA Urban Challenge requirements of perceiving and navigating a road network with segments defined by sparse waypoints.  ...  A key aspect of the planner is its use of closed-loop simulation in a rapidly exploring randomized trees algorithm, which can randomly explore the space while efficiently generating smooth trajectories  ...  In addition, the intrinsic (focal length, center, and distortion) and extrinsic (vehicle-relative pose) parameters of the cameras have been calibrated ahead of time.  ... 
doi:10.1007/978-3-642-03991-1_5 fatcat:pnribpwrgncixkglmeulhqoccm

A perception-driven autonomous urban vehicle

John Leonard, Jonathan How, Seth Teller, Mitch Berger, Stefan Campbell, Gaston Fiore, Luke Fletcher, Emilio Frazzoli, Albert Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata (+16 others)
2008 Journal of Field Robotics  
The vehicle architecture was designed to handle the original DARPA Urban Challenge requirements of perceiving and navigating a road network with segments defined by sparse waypoints.  ...  A key aspect of the planner is its use of closed-loop simulation in a rapidly exploring randomized trees algorithm, which can randomly explore the space while efficiently generating smooth trajectories  ...  In addition, the intrinsic (focal length, center, and distortion) and extrinsic (vehicle-relative pose) parameters of the cameras have been calibrated ahead of time.  ... 
doi:10.1002/rob.20262 fatcat:nbirfudwmfdrjcdmw3r5chkutq

2020 Index IEEE Transactions on Instrumentation and Measurement Vol. 69

2020 IEEE Transactions on Instrumentation and Measurement  
Meenalochani, M., and Sudha, S., Influence of Received Signal Strength on Prediction of Cluster Head and Number of Rounds; TIM June 2020 3739-3749 Hendeby, G., see Kasebzadeh, P., TIM Aug. 2020 5862  ...  Converter Using All-Digital Nested Delay-Locked Loops With 50-ps Resolution and High Throughput for LiDAR TIM Nov. 2020 9262-9271 Helsen, J., see Huchel, L., TIM July 2020 4145-4153 Hemavathi, N.,  ...  Liang, D., +, TIM Jan. 2020 45-53 LiDAR-Camera Calibration Under Arbitrary Configurations: Observability and Methods.  ... 
doi:10.1109/tim.2020.3042348 fatcat:a5f4fsqs45fbbetre6zwsg3dly

Wheel Odometry Aided Visual-Inertial Odometry in Winter Urban Environments [article]

Cheng Huang, University Of Calgary, Kyle P. G. O'Keefe
2021
Then, the KAIST Complex Urban Dataset [2] is used to test the performance of IMU+Vision+WO integration system in urban canyon environments.  ...  However, the accuracy of GNSS positioning is reduced in such challenging environments due to obstructions and multipath effects.  ...  For the camera-IMU extrinsic calibration, the best way is still by utilizing 3D LiDAR as medium to calibrate the transformation matrix.  ... 
doi:10.11575/prism/38573 fatcat:xsro75cxmnb6di7yce2ysegofe

Multimodal Sensor Calibration with a Spherical Calibration Target

Julius Valentin Kümmerle
2020
In der drit- ten Methode werden, neben den Sensorposen, auch intrinsische Sensorparam- eter geschätzt. Die drei Methoden werden in Simulation und mittels Realdaten evaluiert.  ...  In dieser Arbeit werden neue Methoden zur multimodalen Sensorkalibrierung vorgestellt.  ...  We conclude that there are mainly three different approaches in literature for extrinsic calibration of camera and LiDAR without a target.  ... 
doi:10.5445/ir/1000124721 fatcat:bbfb67wfd5gtvcvbcpb4mfhzr4

Characterizing geomorphological change to support sustainable river restoration and management

Robert C. Grabowski, Nicola Surian, Angela M. Gurnell
2014 WIREs Water  
The hydrology and geomorphology of most rivers has been fundamentally altered through a long history of human interventions including modification of river channels, floodplains, and wider changes in the  ...  Process rates can be assessed, the historical condition of rivers can be determined, the trajectories of past changes can be reconstructed, and the role of specific human interventions in these geomorphological  ...  The review is a product of research conducted on the characterization of river hydromorphology within the REFORM collaborative project funded by the European Union Seventh Framework Programme under grant  ... 
doi:10.1002/wat2.1037 fatcat:xhmzy3iazve5pdf77ufj2ufmlm
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