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Extrinsic Calibration of 3D Range Finder and Camera without Auxiliary Object or Human Intervention [article]

Qinghai Liao, Ming Liu, Lei Tai, Haoyang Ye
2017 arXiv   pre-print
As far as we know, it is the first automatic approach with no requirement of auxiliary objects or any human interventions.  ...  First, we estimate the initial extrinsic parameters from the individual motion of the range finder and the camera.  ...  We address the following contributions of this work: • We present a novel extrinsic calibration algorithm for camera images and 3D point-clouds without requirements of auxiliary objects or human intervention  ... 
arXiv:1703.04391v1 fatcat:ze22vjrzrvch7kepr2kw7foyi4

Deep Multi-modal Object Detection and Semantic Segmentation for Autonomous Driving: Datasets, Methods, and Challenges [article]

Di Feng, Christian Haase-Schuetz, Lars Rosenbaum, Heinz Hertlein, Claudius Glaeser, Fabian Timm, Werner Wiesbeck, Klaus Dietmayer
2020 arXiv   pre-print
To this end, we first provide an overview of on-board sensors on test vehicles, open datasets, and background information for object detection and semantic segmentation in autonomous driving research.  ...  In order to achieve robust and accurate scene understanding, autonomous vehicles are usually equipped with different sensors (e.g. cameras, LiDARs, Radars), and multiple sensing modalities can be fused  ...  We also thank Bill Beluch, Rainer Stal, Peter Möller and Ulrich Michael for their suggestions and inspiring discussions.  ... 
arXiv:1902.07830v4 fatcat:or6enjxktnamdmh2yekejjr4re

Autonomous Driving in Adverse Weather Conditions: A Survey [article]

Yuxiao Zhang, Alexander Carballo, Hanting Yang, Kazuya Takeda
2021 arXiv   pre-print
a holistic overview on the obstacles and directions of ADS development in terms of adverse weather driving conditions.  ...  External auxiliary solutions like V2X technology, weather conditions coverage in currently available datasets, simulators, and experimental facilities with weather chambers are distinctly sorted out.  ...  range of an object with board cameras but roadside cameras which shows further a known distance is true or noisy.  ... 
arXiv:2112.08936v1 fatcat:hmgjhywy7rgx3fgrk6yxnu56ie

Registration with the Point Cloud Library: A Modular Framework for Aligning in 3-D

Dirk Holz, Alexandru E. Ichim, Federico Tombari, Radu B. Rusu, Sven Behnke
2015 IEEE robotics & automation magazine  
Registration is an important step when processing 3D point clouds. Applications for registration range from object modeling and tracking to simultaneous localization and mapping.  ...  These examples include dense RGB-D point clouds acquired by consumer color and depth cameras, high-resolution laser scans from commercial 3D scanners, and low-resolution sparse point clouds captured by  ...  A particular characteristic of custom built 3D scanners composed of a rotating 2D laser range finder is that the acquired point clouds have non-uniform point densities: usually a high density within each  ... 
doi:10.1109/mra.2015.2432331 fatcat:gczu65zuivfrppojtcdxjslw6u

Robot SLAM and Navigation with Multi-Camera Computer Vision

Gerardo Carrera Mendoza, Andrew Davison, Consejo Nacional De Ciencia Y Tecnología (Mexico)
The key requirement for the use of such techniques with multiple cameras is accurate calibration of the locations of the cameras as mounted on the robot.  ...  This is a challenging problem, since we consider the general case where the cameras might be mounted all around the robot with arbitrary 3D locations and orientations, and may have fields of view which  ...  , we aim to use each of the cameras for one or more specialised tasks without the need for global extrinsic calibration.  ... 
doi:10.25560/9672 fatcat:cxuhurwxpbfi3kujca2qomjv4m

A Review and Analysis of Automatic Optical Inspection and Quality Monitoring Methods in Electronics Industry

Abd Al Rahman M. Abu Ebayyeh, Alireza Mousavi
2020 IEEE Access  
) (the area of the object under inspection that the camera can acquire), and frame rate (FR) as shown in Figure 24 .  ...  Spatial calibration techniques are commonly used in order to set the camera in optimal position for the application.  ...  diodes LEDs, flat panel displays FPDs, and other miscellaneous components such as passive electronics and camera modules.  ... 
doi:10.1109/access.2020.3029127 fatcat:hoimi667cndsrimsnwasamtdey

Self-Organized Evolutionary Process in Sets of Interdependent Variables near the Midpoint of Phase Transition in K-Satisfiability [chapter]

Michael Korkin
2001 Lecture Notes in Computer Science  
Ackerman, John T Strategic Studies Quarterly: An Air Force-Sponsored Strategic Forum for Military, Government, and Academic Professionals. Volume 2, Number 1 -7 Acuff, Hugh F  ...  ., the systems would be able to cope with unexpected situations dynamically and independently, without human intervention.  ...  The USGS is also testing a potential method of calibrating aerial cameras while over a surveyed test range. This method may hold promise for digital cameras and potentially even film cameras.  ... 
doi:10.1007/3-540-45443-8_20 fatcat:ght26tu6avh57kkp54kifofaee

On Motion Estimation Problems in Computer Vision [article]

Jiaolong Yang, University, The Australian National, University, The Australian National
Experiments demonstrate that the proposed method is able to guarantee the optimality, and can be well applied in estimating the global or relative motion of 3D imaging devices such as 3D scanners or depth  ...  This thesis is dedicated to both camera motion estimation -- including motion estimation for 3D and 2D cameras -- and dense image motion for color images.  ...  With the development of ranging techniques, 3D cameras including range-finders, 3D scanners, depth sensors have since become popular in many computer and robotic vision systems.  ... 
doi:10.25911/5d74e730c1b1e fatcat:7ac5aeoyvffqhhqkbpsq674qwy

3D Ultrasound Guidance System for Pedicle Screw Insertion in Scoliosis Surgery

Andrew Y-H Chan
The accuracy of the motion capture cameras was evaluated, with translational accuracies of 0.25mm for translations within 15mm and rotational accuracies within 3.7 o for rotations within 60 o .  ...  The accuracy of 3D ultrasound in localizing landmarks was found to be 0.8±0.6mm, while using a motion capture probe to iii localize landmarks on the phantom found a positional error of 1.1±1.1mm and rotational  ...  The extrinsic properties need to be calibrated with every change in camera position.  ... 
doi:10.7939/r3-fstw-0p32 fatcat:t6rtsdnpizeolefcxj7r6mmxw4

Robot Controllers for Highly Dynamic Environments with Real-time Constraints

Alexander Ferrein
2010 Künstliche Intelligenz  
laser range finder by multiplying the weights (Fox et al.  ...  The term autonomous robot control seems contradictory as autonomy implies the capability of something to take care of itself, and control is connoted with some form of human intervention.  ... 
doi:10.1007/s13218-010-0041-3 fatcat:ltrvy7pynjbs7joc5exp2khgii

Conference on Autonomous and Robotic Construction of Infrastructure Proceedings of the 2015 Conference on Autonomous and Robotic Construction of Infrastructure

David White, Ahmad Alhasan, Pavana Vennapusa
Any opinions, findings, conclusions, or recommendations expressed in this paper are those of the authors and do not necessarily reflect the views of Midwest Transportation Center or Iowa DOT.  ...  Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the NSF.  ...  Robots can be used to build these structures for particular situations in the autonomous mode without explicit human intervention or with some levels of planning interaction conducted with a human supervisor  ... 

Vector Map-Based, Non-Markov Localization for Long-Term Deployment of Autonomous Mobile Robots

Joydeep Biswas
Going beyond MCL, we recognize that human environments have objects that are either permanent, like walls, movable, like tables and chairs, or moving, like humans.  ...  We introduce Episodic non-Markov Localization, which reasons about the nature of such observations, and accounts for correlations between observations even if they are of unmapped objects, to provide location  ...  range finders or depth cameras processed by FSPF, thus resulting in more accurate and robust location estimates while requiring fewer particles than MCL-SIR.  ... 
doi:10.1184/r1/6724220.v1 fatcat:ajusmjivbfa67awzmntgnqd34u

Engineering, Technology & Applied Science Research (ETASR), Vol. 11, No. 2, pp. 6845-7068 [article]

2021 Zenodo  
of science application, technology, and engineering.  ...  ISSN: 1792-8036 and 2241-4487.  ...  ACKNOWLEGEMENT The research reported in this study was conducted at the NED University of Engineering and Technology (NEDUET) and is funded by MoST (Ministry of Science and Technology).  ... 
doi:10.5281/zenodo.4720665 fatcat:mk2prflstjaa3bhkjenwy22s6u

A continuum robotic platform for endoscopic non-contact laser surgery: design, control, and preclinical evaluation

Dennis Kundrat, Technische Informationsbibliothek (TIB)
The application of laser technologies in surgical interventions has been accepted in the clinical domain due to their atraumatic properties.  ...  However, TLM requires many years of surgical training for tumour resection in order to preserve the function of adjacent organs and thus preserve the patient's quality of life.  ...  For the sake of completeness, mapping of distance metrics to force or vibrotactile representations has considered feedback from laser range finders [YMI09] , camera-projector setups, or camera-laser triangulation  ... 
doi:10.15488/12200 fatcat:bmgjt46imbeixjjgopqg3igchq

Applications and Techniques for Fast Machine Learning in Science

Allison McCarn Deiana, Nhan Tran, Joshua Agar, Michaela Blott, Giuseppe Di Guglielmo, Javier Duarte, Philip Harris, Scott Hauck, Mia Liu, Mark S. Neubauer, Jennifer Ngadiuba, Seda Ogrenci-Memik (+35 others)
2022 Frontiers in Big Data  
This community report is intended to give plenty of examples and inspiration for scientific discovery through integrated and accelerated ML solutions.  ...  This is followed by a high-level overview and organization of technical advances, including an abundance of pointers to source material, which can enable these breakthroughs.  ...  Some first examples of machine learning models designed for the L1 trigger are based on fully connected layers, and they are proposed for tasks such as the reconstruction and calibration of final objects  ... 
doi:10.3389/fdata.2022.787421 pmid:35496379 pmcid:PMC9041419 fatcat:5w2exf7vvrfvnhln7nj5uppjga
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