清晨好,您是今天最早来到科研通的研友!由于当前在线用户较少,发布求助请尽量完整地填写文献信息,科研通机器人24小时在线,伴您科研之路漫漫前行!

Enhanced calibration of camera setups for high-performance visual odometry

计算机科学 计算机视觉 人工智能 校准 视觉里程计 摄像机切除 里程计 计算机图形学(图像) 机器人 移动机器人 物理 量子力学
作者
Igor Cvišić,Ivan Marković,Ivan Petrović
出处
期刊:Robotics and Autonomous Systems [Elsevier BV]
卷期号:155: 104189-104189 被引量:3
标识
DOI:10.1016/j.robot.2022.104189
摘要

For robots and autonomous system that rely on visual data for operating in the real world, camera calibration is an indispensable step as it relates image information to the geometric structure of the 3D world. Although it is convenient to consider a several decades old problem as something that is swiftly solvable with a dedicated toolbox, we should still push calibration methods to their practical limits in order to gain valuable insights, and especially when robots are operating in circumstances that concern human safety. In this paper we propose a camera setup calibration procedure with emphasis on visual odometry accuracy. We focus on target-based calibration and two popular datasets are used for evaluating visual odometry and SLAM algorithms, namely the EuRoC and KITTI datasets. Our procedure consists of: (i) introducing a novel highly accurate corner detection algorithm robust to challenging illumination conditions, (ii) investigating different lens distortion models, (iii) incorporating static and dynamic board deformation models, (iv) ex-post analysis of reprojection error sensitivity and calibration parameter uncertainty, and (v) grid search method based on odometry accuracy when board poses do not constrain calibration parameters well enough. The whole process significantly reduced the reprojection error when calibrating the camera setups of the EuRoC and KITTI datasets. We tested four different odometries, namely SOFT, ORB-SLAM2, VINS-FUSION, and VISO2—all four showed higher accuracy with the proposed calibration parameters. Moreover, with the proposed calibration method our SOFT2 scored 0.53% in translation and 0.0009 deg/m in rotation error rendering it currently the highest ranking algorithm on the KITTI scoreboard. • Novel calibration procedure for visual odometry and SLAM evaluation datasets: EuRoC and KITTI. • Novel highly accurate corner detection algorithm robust to challenging illumination conditions. • Investigated different lens distortion models and incorporated static and dynamic board deformation models. • Ex-post analysis of reprojection error sensitivity and calibration parameter uncertainty. • New calibration parameters increase visual odometry accuracy; validated for SOFT2, VINS-FUSION, ORB-SLAM2 and VISO2 odometries.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
muriel完成签到,获得积分10
23秒前
科研通AI2S应助科研通管家采纳,获得10
24秒前
奥利奥利奥完成签到 ,获得积分10
56秒前
1分钟前
Dave发布了新的文献求助10
1分钟前
DouBo完成签到,获得积分10
1分钟前
Richardisme完成签到 ,获得积分10
1分钟前
qianchang完成签到,获得积分10
1分钟前
yuiop完成签到,获得积分10
2分钟前
liuyc完成签到 ,获得积分10
2分钟前
2分钟前
ll发布了新的文献求助10
2分钟前
糖果苏扬完成签到 ,获得积分10
2分钟前
科研通AI2S应助科研通管家采纳,获得10
2分钟前
zhang完成签到 ,获得积分10
2分钟前
蝴蝶完成签到 ,获得积分10
2分钟前
naczx完成签到,获得积分0
3分钟前
Dave发布了新的文献求助10
3分钟前
FashionBoy应助Dave采纳,获得10
3分钟前
yi完成签到,获得积分10
4分钟前
陈龙完成签到,获得积分10
4分钟前
rockyshi完成签到 ,获得积分10
5分钟前
刘刘完成签到 ,获得积分10
5分钟前
5分钟前
Dave发布了新的文献求助10
5分钟前
HCT完成签到,获得积分10
5分钟前
小象完成签到,获得积分10
6分钟前
6分钟前
在水一方应助Dave采纳,获得10
6分钟前
淡淡兔子完成签到 ,获得积分10
6分钟前
7分钟前
Dave发布了新的文献求助10
7分钟前
慕青应助科研通管家采纳,获得10
8分钟前
科研通AI2S应助科研通管家采纳,获得10
8分钟前
彦嘉完成签到,获得积分10
8分钟前
8分钟前
彦嘉发布了新的文献求助10
8分钟前
8分钟前
Dave发布了新的文献求助10
8分钟前
8分钟前
高分求助中
The Mother of All Tableaux: Order, Equivalence, and Geometry in the Large-scale Structure of Optimality Theory 3000
A new approach to the extrapolation of accelerated life test data 1000
ACSM’s Guidelines for Exercise Testing and Prescription, 12th edition 500
Indomethacinのヒトにおける経皮吸収 400
Phylogenetic study of the order Polydesmida (Myriapoda: Diplopoda) 370
基于可调谐半导体激光吸收光谱技术泄漏气体检测系统的研究 350
Robot-supported joining of reinforcement textiles with one-sided sewing heads 320
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 3990502
求助须知:如何正确求助?哪些是违规求助? 3532220
关于积分的说明 11256532
捐赠科研通 3271046
什么是DOI,文献DOI怎么找? 1805207
邀请新用户注册赠送积分活动 882302
科研通“疑难数据库(出版商)”最低求助积分说明 809234