• Corpus ID: 238198353

Targetless Extrinsic Calibration of Stereo Cameras, Thermal Cameras, and Laser Sensors in the Wild

  title={Targetless Extrinsic Calibration of Stereo Cameras, Thermal Cameras, and Laser Sensors in the Wild},
  author={Tai Fu and Huai Yu and Yaoyu Hu and Sebastian A. Scherer},
—The fusion of multi-modal sensors has become increasingly popular in autonomous driving and intelligent robots since it can provide richer information than any single sensor, enhance reliability in complex environments. Multi-sensor extrinsic calibration is one of the key factors of sensor fusion. However, such calibration is difficult due to the variety of sensor modalities and the requirement of calibration targets and human labor. In this paper, we demonstrate a new targetless cross-modal… 



Automatic Online Calibration of Cameras and Lasers

Two new real-time techniques that enable camera-laser calibration online, automatically, and in arbitrary environments are introduced, including a probabilistic monitoring algorithm that can detect a sudden miscalibration in a fraction of a second, and a continuous calibration optimizer that adjusts transform offsets in real time, tracking gradual sensor drift as it occurs.

Automatic extrinsic calibration for lidar-stereo vehicle sensor setups

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LiDAR-Camera Calibration using 3D-3D Point correspondences

A novel pipeline and experimental setup is proposed to find accurate rigid-body transformation for extrinsically calibrating a LiDAR and a camera and it is demonstrated how two cameras with no overlapping field-of-view can also be calibrated extrinsic using 3D point correspondences.

Extrinsic self calibration of a camera and a 3D laser range finder from natural scenes

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Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information

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Data Fusion Calibration for a 3D Laser Range Finder and a Camera using Inertial Data

A new method to perform the extrinsic calibration between a pinhole camera and a 3D-LRF with the aid of an Inertial Measurement Unit (IMU) is proposed, which is innovate in terms of higher exibility and wider range of application.

Depth and thermal sensor fusion to enhance 3D thermographic reconstruction.

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Line-Based 2-D–3-D Registration and Camera Localization in Structured Environments

This article proposes a new 2-D–3-D registration method to estimate 1-D-2-D line feature correspondences and the camera pose in untextured point clouds of structured environments and demonstrates the effectiveness on the synthetic and real data set with repeated structures and rapid depth changes.

A Method for Registration of 3-D Shapes

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A Computational Approach to Edge Detection

  • J. Canny
  • Computer Science
    IEEE Transactions on Pattern Analysis and Machine Intelligence
  • 1986
There is a natural uncertainty principle between detection and localization performance, which are the two main goals, and with this principle a single operator shape is derived which is optimal at any scale.