Robust Task-Oriented Markerless Extrinsic Calibration for Robotic Pick-and-Place Scenarios
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2913421
Abstract: Camera extrinsic calibration is an important module for robotic visual tasks. A typical visual task is to use a robot and a color camera to pick an object from a variety of items and place… read more here.
Keywords: calibration; extrinsic calibration; task; pick place ... See more keywords
Online Camera-Gimbal-Odometry System Extrinsic Calibration for Fixed-Wing UAV Swarms
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Access"
DOI: 10.1109/access.2019.2944961
Abstract: Unmanned aerial vehicle (UAV) swarms show a broad application prospect in the future. For most individuals of UAV swarms, their perception systems consist of onboard camera, gimbal and odometry. It is necessary to efficiently obtain… read more here.
Keywords: uav swarms; calibration; camera gimbal; extrinsic calibration ... See more keywords
Extrinsic Calibration of Multiple RGB-D Cameras From Line Observations
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2017.2739104
Abstract: This letter presents a novel method to estimate the relative poses between RGB and depth cameras without the requirement of an overlapping field of view, thus providing flexibility to calibrate a variety of sensor configurations.… read more here.
Keywords: rgb cameras; cameras line; calibration multiple; extrinsic calibration ... See more keywords
Certifiably Globally Optimal Extrinsic Calibration From Per-Sensor Egomotion
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2890444
Abstract: We present a certifiably globally optimal algorithm for determining the extrinsic calibration between two sensors that are capable of producing independent egomotion estimates. This problem has been previously solved using a variety of techniques, including… read more here.
Keywords: calibration; egomotion; extrinsic calibration; optimal extrinsic ... See more keywords
A Two-Step Optimization for Extrinsic Calibration of Multiple Camera System (MCS) Using Depth-Weighted Normalized Points
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3094412
Abstract: A multiple camera system (MCS), which allows only a limited common field-of-view between adjacent cameras, has been chiefly calibrated using a typical 2D-3D point correspondence. However, the correspondence contains a potential instability by which the… read more here.
Keywords: calibration; multiple camera; system mcs; extrinsic calibration ... See more keywords
Extrinsic Calibration of Multiple Inertial Sensors from Arbitrary Trajectories
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3143290
Abstract: We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves,… read more here.
Keywords: inertial sensors; calibration multiple; extrinsic calibration; multiple inertial ... See more keywords
Information-Theoretic Online Multi-Camera Extrinsic Calibration
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3145061
Abstract: Calibration of multi-camera systems is essential for lifelong use of vision-based headsets and autonomous robots. In this work, we present an information-based framework for online extrinsic calibration of multi-camera systems. While previous work largely focuses… read more here.
Keywords: multi camera; information; calibration; extrinsic calibration ... See more keywords
Camera-IMU Extrinsic Calibration Quality Monitoring for Autonomous Ground Vehicles
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3151970
Abstract: Highly accurate sensor extrinsic calibration is critical for data fusion from multiple sensors, such as camera and Inertial Measurement Unit (IMU) sensor suit. A pre-calibrated extrinsics, however, may no longer be accurate due to external… read more here.
Keywords: calibration quality; extrinsic calibration; imu extrinsic; calibration ... See more keywords
Automatic Targetless Calibration for LiDAR and Camera Based on Instance Segmentation
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3191242
Abstract: In autonomous vehicles, accurate extrinsic calibration for LiDAR and camera is an essential prerequisite for multi-sensor information fusion. Automatic and targetless extrinsic calibration has become the mainstream of academic research in recent years. However, existing… read more here.
Keywords: lidar camera; calibration; calibration lidar; extrinsic calibration ... See more keywords
PBACalib: Targetless Extrinsic Calibration for High-Resolution LiDAR-Camera System Based on Plane-Constrained Bundle Adjustment
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3226026
Abstract: The strategy of fusing multi-model data especially from cameras, light detection and ranging sensors (LiDAR), is frequently considered in robotics to enhance the performance of the perception and navigation tasks. Extrinsic calibration, which spatially aligns… read more here.
Keywords: lidar camera; extrinsic calibration; calibration; targetless extrinsic ... See more keywords
Observability-Aware Online Multi-Lidar Extrinsic Calibration
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3262176
Abstract: Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this letter, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle base… read more here.
Keywords: observability aware; extrinsic calibration; calibration; real time ... See more keywords