那些互补的性质使得融合LiDAR和相机用于构建稠密的纹理3D模型变得非常具有吸引力。 图1. 一个商用LiDAR-双目系统被用于收集双目图片(只有左图片被可视化)和LiDAR点云。我们的算法估计相机位姿,生成一个被扫描环境的具有纹理的稠密3D模型和点云地图。 大多数提出的传感器融合算法一般通过LiDAR深度增强图片。然后稀疏的深度...
W. Zhen, Y. Hu, J. Liu, S. Scherer. A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3-D Reconstructions. IEEE Robotics and Automation Letters, 4(4), 3585-3592, 2019. 摘要 融合相机和激光的数据十分吸引人,因为它们有互补的性质。例如,相机有更高的分辨率和色彩,LiDAR数...
GNSS Fix data can also be converted into an odometry input for late fusion with the remaining estimates of relative pose. For this, one can use thenavsat_transform_nodeincluded in therobot_localizationROS package. In our architecture, we set this input as optional, given the limited capabilities...
For applications such as autonomous driving, robotics, navigation systems, and 3-D scene reconstruction, data of the same scene is often captured using both lidar and camera sensors. To accurately interpret the objects in a scene, it is necessary to fuse the lidar and the camera outputs togethe...
Master thesis project realized in partnership with Aalto University and Finnish Geospatial Research Institute of Finland. Stereo Camera-LiDAR calibration. Covers: mono and stereo camera calibration, Camera-LIDAR synchronisation, camera-based and LiDAR-based 3D reconstruction, Camera-LiDAR extrinsic calibration...
LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-time 3D Radiance Field Map Rendering We introduce an integrated precise LiDAR, Inertial, and Visual (LIV) multimodal sensor fused mapping system that builds on the differentiable \\pre{surface... S Hong,J He,X Zheng,... - 《IEEE Robotics...
Kim, G, Kim, A: Scan context: Egocentric spatial descriptor for place recognition within 3D point cloud map. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems Madrid (2018) Kim, H, Leutenegger, S, Davison, AJ: Real-time 3d reconstruction and 6-dof ...
5. 3D Reconstruction of Lake Surface Using Camera and LiDAR Sensor Fusion [D] . Khan, Shahrukh. 2020 机译:3D使用相机和激光雷达传感器融合的湖面重建 6. A Robust Vehicle Localization Approach Based on GNSS/IMU/DMI/LiDAR Sensor Fusion for Autonomous Vehicles [O] . Xiaoli Meng, Heng Wang...
3D LIDAR-camera systemextrinsic calibrationsensor fusionThis paper presents a novel way to address the extrinsic calibration problem for a system composed of a 3D LIDAR and a camera. The relative transformation between the two sensors is calibrated via a nonlinear least squares (NLS) problem, which...
LIF-Seg: LiDAR and Camera Image Fusion for 3D LiDAR Semantic Segmentation. IEEE Trans. Multimed. 2024, 26, 1158–1168. [Google Scholar] [CrossRef] Cadena, C.; Carlone, L.; Carrillo, H.; Latif, Y.; Scaramuzza, D.; Neira, J.; Reid, I.; Leonard, J.J. Past, present, and future...