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pro vyhledávání: '"Wodtko, Thomas"'
Conflicting sensor measurements pose a huge problem for the environment representation of an autonomous robot. Therefore, in this paper, we address the self-assessment of an evidential grid map in which data from conflicting LiDAR sensor measurements
Externí odkaz:
http://arxiv.org/abs/2409.20286
We propose an approach to assess the synchronization of rigidly mounted sensors based on their rotational motion. Using function similarity measures combined with a sliding window approach, our approach is capable of estimating time-varying time offs
Externí odkaz:
http://arxiv.org/abs/2409.20266
Autor:
Wodtko, Thomas, Buchholz, Michael
Sensor calibration is crucial for autonomous driving, providing the basis for accurate localization and consistent data fusion. Enabling the use of high-accuracy GNSS sensors, this work focuses on the antenna lever arm calibration. We propose a globa
Externí odkaz:
http://arxiv.org/abs/2406.09866
Hand-eye calibration is an important and extensively researched method for calibrating rigidly coupled sensors, solely based on estimates of their motion. Due to the geometric structure of this problem, at least two motion estimates with non-parallel
Externí odkaz:
http://arxiv.org/abs/2308.06045
In this work, we propose a novel adaptive grid mapping approach, the Adaptive Patched Grid Map, which enables a situational aware grid based perception for autonomous vehicles. Its structure allows a flexible representation of the surrounding unstruc
Externí odkaz:
http://arxiv.org/abs/2308.03416
Publikováno v:
2023 IEEE Intelligent Vehicles Symposium (IV)
We propose a certifiably globally optimal approach for solving the hand-eye robot-world problem supporting multiple sensors and targets at once. Further, we leverage this formulation for estimating a geo-referenced calibration of infrastructure senso
Externí odkaz:
http://arxiv.org/abs/2305.01407
Publikováno v:
2021 International Conference on 3D Vision (3DV)
In this work, we present an approach for monocular hand-eye calibration from per-sensor ego-motion based on dual quaternions. Due to non-metrically scaled translations of monocular odometry, a scaling factor has to be estimated in addition to the rot
Externí odkaz:
http://arxiv.org/abs/2201.04473
Publikováno v:
IEEE Robotics and Automation Letters 6 (2), 982-989, 2021
In this work, we propose an approach for extrinsic sensor calibration from per-sensor ego-motion estimates. Our problem formulation is based on dual quaternions, enabling two different online capable solving approaches. We provide a certifiable globa
Externí odkaz:
http://arxiv.org/abs/2101.11440