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Project AutoVision: Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System
(2019)2019 International Conference on Robotics and Automation (ICRA)Conference Paper -
Minimal Solutions for Pose Estimation of a Multi-Camera System
(2016)Springer Tracts in Advanced Robotics ~ Robotics research : the 16th International Symposium ISRRConference Paper -
A Minimal Solution to the Rolling Shutter Pose Estimation Problem
(2015)2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper -
Self-Calibration and Visual SLAM with a Multi-Camera System on a Micro Aerial Vehicle
(2014)Robotics: Science and Systems XConference Paper -
Relative Pose Estimation for a Multi-Camera System with Known Vertical Direction
(2014)Proceedings of the 2014 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)Conference Paper -
Real-time direct dense matching on fisheye images using plane-sweeping stereo
(2014)2014 2nd International Conference on 3D VisionConference Paper -
Infrastructure-based calibration of a multi-camera rig
(2014)2014 IEEE International Conference on Robotics and Automation (ICRA)The online recalibration of multi-sensor systems is a fundamental problem that must be solved before complex automated systems are deployed in situations such as automated driving. In such situations, accurate knowledge of calibration parameters is critical for the safe operation of automated systems. However, most existing calibration methods for multisensor systems are computationally expensive, use installations of known fiducial ...Conference Paper -
Unsupervised learning of threshold for geometric verification in visual-based loop-closure
(2014)2014 IEEE International Conference on Robotics and Automation (ICRA)A potential loop-closure image pair passes the geometric verification test if the number of inliers from the computation of the geometric constraint with RANSAC exceed a pre-defined threshold. The choice of the threshold is critical to the success of identifying the correct loop-closure image pairs. However, the value for this threshold often varies for different datasets and is chosen empirically. In this paper, we propose an unsupervised ...Conference Paper -
Structureless pose-graph loop-closure with a multi-camera system on a self-driving car
(2013)2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 3-7 November 2013, Tokyo, JapanConference Paper -
Robust pose-graph loop-closures with expectation-maximization
(2013)2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 3-7 November 2013, Tokyo, JapanConference Paper