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Robust Accurate Extrinsic Calibration of Static Non-overlapping Cameras [chapter]

Andreas Robinson, Mikael Persson, Michael Felsberg
2017 Lecture Notes in Computer Science  
Related Work Approaches to calibrating non-overlapping cameras can be sorted into two broad categories, static and dynamic: Static methods either use mirrors to allow all cameras to see the same calibration  ...  Extrinsic calibration not possible in a static setting. Right: A temporarily placed additional camera enables extrinsic calibration.  ... 
doi:10.1007/978-3-319-64698-5_29 fatcat:qy4dwpzcqbfwriuugdsg3drisi

A Robust Extrinsic Calibration Framework for Vehicles with Unscaled Sensors

Celyn Walters, Oscar Mendez, Simon Hadfield, Richard Bowden
2019 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots.  ...  Our second contribution is that our system is made robust to imperfect and degenerate sensor data, by collecting independent sets of poses and automatically selecting those which are most ideal.  ...  This way, even non-overlapping cameras can be simply calibrated without degenerate cases.  ... 
doi:10.1109/iros40897.2019.8968244 dblp:conf/iros/WaltersMHB19 fatcat:xqtbr7j5uvhb5fdrftg6wyacwm

AprilTag array-aided extrinsic calibration of camera–laser multi-sensor system

Dengqing Tang, Tianjiang Hu, Lincheng Shen, Zhaowei Ma, Congyu Pan
2016 Robotics and Biomimetics  
This algorithm is adapted to the extrinsic calibration of multiple cameras even if there is non-overlapping field of view.  ...  The extrinsic parameters of camera-camera and laser-camera are then calibrated, respectively.  ...  This algorithm is adapted to multiple-camera extrinsic calibration with non-overlapping field of view, and it has the advantages of being simple to use and yields great performance, which have been validated  ... 
doi:10.1186/s40638-016-0044-0 pmid:27512645 pmcid:PMC4960277 fatcat:3rxkzls5gvg3fc2disuntdtpoa

Road is Enough! Extrinsic Calibration of Non-overlapping Stereo Camera and LiDAR using Road Information [article]

Jinyong Jeong, Lucas Y. Cho, Ayoung Kim
2019 arXiv   pre-print
This paper presents a framework for the targetless extrinsic calibration of stereo cameras and Light Detection and Ranging (LiDAR) sensors with a non-overlapping Field of View (FOV).  ...  In order to solve the extrinsic calibrations problem under such challenging configuration, the proposed solution exploits road markings as static and robust features among the various dynamic objects that  ...  Extrinsic Calibration of Non-overlapping Configuration The aforementioned target-less extrinsic calibration still requires an overlap between sensors.  ... 
arXiv:1902.10586v2 fatcat:lw2yxiszrneqli7mnjq3rspsyq

Lasers to Events: Automatic Extrinsic Calibration of Lidars and Event Cameras [article]

Kevin Ta, David Bruggemann, Tim Brödermann, Christos Sakaridis, Luc Van Gool
2022 arXiv   pre-print
This paper presents the first direct calibration method between event cameras and lidars, removing dependencies on frame-based camera intermediaries and/or highly-accurate hand measurements.  ...  The high dynamic range and low-light operation of event cameras are exploited to directly register lidar laser returns, allowing information-based correlation methods to optimize for the 6-DoF extrinsic  ...  Intrinsic Calibration Prior to extrinsic calibration, accurate intrinsic calibration of the event cameras is required.  ... 
arXiv:2207.01009v1 fatcat:noyb5pisuvf2bia24ddoi7g4im

A Fast and Robust Extrinsic Calibration for RGB-D Camera Networks

Po-Chang Su, Ju Shen, Wanxin Xu, Sen-Ching Cheung, Ying Luo
2018 Sensors  
. † This paper is an extended version of our paper published in The extension of extrinsic calibration for wide-baseline RGB-D camera network.  ...  In this paper, we propose a novel algorithm that can accurately and rapidly calibrate the geometric relationships across an arbitrary number of RGB-D cameras on a network.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s18010235 pmid:29342968 pmcid:PMC5795566 fatcat:xz4zc2wjvjfczcocizmvdrfg7i

3D Static Point Cloud Registration by Estimating Temporal Human Pose at Multiview

Byung-Seo Park, Woosuk Kim, Jin-Kyum Kim, Eui Seok Hwang, Dong-Wook Kim, Young-Ho Seo
2022 Sensors  
After efficiently integrating a plurality of incomplete joint sets into one joint set, multi-view cameras can be calibrated by using the combined joint set to obtain extrinsic matrices.  ...  Consistent feature points are required to calibrate a multi-view camera, and accurate feature points are necessary to obtain high-accuracy calibration results.  ...  For reliable and accurate scene representation using RGB-D cameras, intrinsic calibration of each camera and extrinsic calibration between two sensors are required.  ... 
doi:10.3390/s22031097 pmid:35161842 pmcid:PMC8839544 fatcat:27xmersbdjhf3ow2h6l62icdke

Cross-calibration of push-broom 2D LIDARs and cameras in natural scenes

Ashley Napier, Peter Corke, Paul Newman
2013 2013 IEEE International Conference on Robotics and Automation  
We have adopted a robust correlation measure that is invariant to non-linearities in the reflectance returns and camera images.  ...  This feature of the calibration is particularly useful in transport as often sensors can be mounted all over the vehicle with non-overlapping fields of view.  ... 
doi:10.1109/icra.2013.6631094 dblp:conf/icra/NapierCN13 fatcat:yesfde2p25g2lguv6paxx5mgbm

Online inspection of 3D parts via a locally overlapping camera network

Tolga Birdal, Emrah Bala, Tolga Eren, Slobodan Ilic
2016 2016 IEEE Winter Conference on Applications of Computer Vision (WACV)  
The system is composed of multiple static, locally overlapping cameras forming a network. Initially, these cameras are calibrated to obtain a global coordinate frame.  ...  While presenting the implementation of an involved 3D metrology system, we also demonstrate that the resulting inspection is as accurate as 0.2 mm, repeatable and much faster, compared to the existing  ...  To the best of our knowledge, this was the first work to address jointly the calibration and measurement processes, while at the same time providing novel algorithms targeting the fast, robust and accurate  ... 
doi:10.1109/wacv.2016.7477630 dblp:conf/wacv/BirdalBEI16 fatcat:oqx4e6t2cfettpniwjsubmb6ou

Two Cameras and a Screen: How to Calibrate Mobile Devices?

Amael Delaunoy, Jia Li, Bastien Jacquet, Marc Pollefeys
2014 2014 2nd International Conference on 3D Vision  
relationship between the non-overlapping cameras with respect to the screen location.  ...  We propose a new approach to estimate the geometric extrinsic calibration of all the elements of a smartphone or tablet (such as the screen, the front and the back cameras) by using a planar mirror.  ...  CONCLUSION We proposed a new practical approach to calibrate a set of two non-overlapping cameras rigidly connected to a reference pattern.  ... 
doi:10.1109/3dv.2014.102 dblp:conf/3dim/DelaunoyLJP14 fatcat:wwjsee7gcfg4porgxgeurkm4ce

Momo: Monocular Motion Estimation on Manifolds [article]

Johannes Graeter, Tobias Strauss, Martin Lauer
2017 arXiv   pre-print
The quality and robustness of that prior determine the success of localisation.  ...  We show that especially in low-structure environments Momo outperforms the state of the art. Moreover, the method is designed so that multiple cameras with or without overlap can be integrated.  ...  Generalization of the problem to calibrated multi-camera systems without overlapping field of view. 4. Adaptation to general camera models. 5.  ... 
arXiv:1708.00397v1 fatcat:nm3ahmiljrdmlcogaje4ce34o4

Continuous Target-free Extrinsic Calibration of a Multi-Sensor System from a Sequence of Static Viewpoints [article]

Philipp Glira, Christoph Weidinger, Johann Weichselbaum
2022 arXiv   pre-print
We demonstrate the suitability of our method by calibrating a multi-sensor system composed by 2 lidar sensors, 3 cameras, and an imaging radar sensor.  ...  The parameter estimation is based on the matching of point clouds which are acquired by the sensors from multiple static viewpoints.  ...  The extrinsic calibration of the other sensors was estimated in parallel by 3 independent calibration procedures: lidar1-to-lidar2, lidar1-to-cameras, lidar1to-radar.  ... 
arXiv:2207.03785v1 fatcat:it44zr4qtngrnlc5zjvrftl4ci

Automatic extrinsic calibration of multiple laser range sensors with little overlap

Jorg Rowekamper, Michael Ruhnke, Bastian Steder, Wolfram Burgard, Gian Diego Tipaldi
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Based on these correspondences we formulate a graph-based optimization problem to determine the maximum likelihood extrinsic parameters of the sensor network.  ...  To robustly deal with the potentially restricted overlap between the fields of view, our approach only requires a dynamic object, e.g., a person, moving through the observed area.  ...  At the same time, the sensors have only a limited overlap. In many cases, the extrinsic parameters computed by this approach are not accurate enough for the task at hand.  ... 
doi:10.1109/icra.2015.7139471 dblp:conf/icra/RowekamperRSBT15 fatcat:j2nkphle3vbvlogc2uihtowmsi

Binocular Camera Calibration Using Rectification Error

Derek Bradley, Wolfgang Heidrich
2010 2010 Canadian Conference on Computer and Robot Vision  
The rectification error determines the mismatch in epipolar constraints between a pair of cameras, and it can be used to calibrate binocular camera setups more accurately than using the reprojection error  ...  Reprojection error is a commonly used measure for comparing the quality of different camera calibrations, for example when choosing the best calibration from a set.  ...  Since we only require pairs of cameras to have overlapping views, our rectification error can be used to find very accurate camera calibrations in these cases, more ac-curate than using the standard reprojection  ... 
doi:10.1109/crv.2010.31 dblp:conf/crv/BradleyH10 fatcat:upmd3vjd2rebnjbfsg2acxqmre

TagSLAM: Robust SLAM with Fiducial Markers [article]

Bernd Pfrommer, Kostas Daniilidis
2019 arXiv   pre-print
based on tags: full SLAM, extrinsic camera calibration with non-overlapping views, visual localization for ground truth, loop closure for odometry, pose estimation etc.  ...  TagSLAM provides a convenient, flexible, and robust way of performing Simultaneous Localization and Mapping (SLAM) with AprilTag fiducial markers.  ...  It is now being used at the University of Pennsylvania's GRASP lab for extrinsic camera calibration with non-overlapping views, loop closure on visual-inertial odometry benchmarks, tag mapping, object  ... 
arXiv:1910.00679v1 fatcat:igm2ndc2ufeptemafjebtexhtm
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