SemCal: Semantic LiDAR-Camera Calibration using Neural MutualInformation
Estimator
- URL: http://arxiv.org/abs/2109.10270v1
- Date: Tue, 21 Sep 2021 15:51:24 GMT
- Title: SemCal: Semantic LiDAR-Camera Calibration using Neural MutualInformation
Estimator
- Authors: Peng Jiang, Philip Osteen, and Srikanth Saripalli
- Abstract summary: SemCal is an automatic, targetless, extrinsic calibration algorithm for a LiDAR and camera system using semantic information.
We leverage a neural information estimator to estimate the mutual information (MI) of semantic information extracted from each sensor measurement.
- Score: 7.478076599395811
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: This paper proposes SemCal: an automatic, targetless, extrinsic calibration
algorithm for a LiDAR and camera system using semantic information. We leverage
a neural information estimator to estimate the mutual information (MI) of
semantic information extracted from each sensor measurement, facilitating
semantic-level data association. By using a matrix exponential formulation of
the $se(3)$ transformation and a kernel-based sampling method to sample from
camera measurement based on LiDAR projected points, we can formulate the
LiDAR-Camera calibration problem as a novel differentiable objective function
that supports gradient-based optimization methods. We also introduce a
semantic-based initial calibration method using 2D MI-based image registration
and Perspective-n-Point (PnP) solver. To evaluate performance, we demonstrate
the robustness of our method and quantitatively analyze the accuracy using a
synthetic dataset. We also evaluate our algorithm qualitatively on an urban
dataset (KITTI360) and an off-road dataset (RELLIS-3D) benchmark datasets using
both hand-annotated ground truth labels as well as labels predicted by the
state-of-the-art deep learning models, showing improvement over recent
comparable calibration approaches.
Related papers
- YOCO: You Only Calibrate Once for Accurate Extrinsic Parameter in LiDAR-Camera Systems [0.5999777817331317]
In a multi-sensor fusion system composed of cameras and LiDAR, precise extrinsic calibration contributes to the system's long-term stability and accurate perception of the environment.
This paper proposes a novel fully automatic extrinsic calibration method for LiDAR-camera systems that circumvents the need for corresponding point registration.
arXiv Detail & Related papers (2024-07-25T13:44:49Z) - MM3DGS SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurements [59.70107451308687]
We show for the first time that using 3D Gaussians for map representation with unposed camera images and inertial measurements can enable accurate SLAM.
Our method, MM3DGS, addresses the limitations of prior rendering by enabling faster scale awareness, and improved trajectory tracking.
We also release a multi-modal dataset, UT-MM, collected from a mobile robot equipped with a camera and an inertial measurement unit.
arXiv Detail & Related papers (2024-04-01T04:57:41Z) - GPS-Gaussian: Generalizable Pixel-wise 3D Gaussian Splatting for Real-time Human Novel View Synthesis [70.24111297192057]
We present a new approach, termed GPS-Gaussian, for synthesizing novel views of a character in a real-time manner.
The proposed method enables 2K-resolution rendering under a sparse-view camera setting.
arXiv Detail & Related papers (2023-12-04T18:59:55Z) - Fixation-based Self-calibration for Eye Tracking in VR Headsets [0.21561701531034413]
The proposed method is based on the assumptions that the user's viewpoint can freely move.
fixations are first detected from the time-series data of uncalibrated gaze directions.
The calibration parameters are optimized by minimizing the sum of a dispersion metrics of the PoRs.
arXiv Detail & Related papers (2023-11-01T09:34:15Z) - Volumetric Semantically Consistent 3D Panoptic Mapping [77.13446499924977]
We introduce an online 2D-to-3D semantic instance mapping algorithm aimed at generating semantic 3D maps suitable for autonomous agents in unstructured environments.
It introduces novel ways of integrating semantic prediction confidence during mapping, producing semantic and instance-consistent 3D regions.
The proposed method achieves accuracy superior to the state of the art on public large-scale datasets, improving on a number of widely used metrics.
arXiv Detail & Related papers (2023-09-26T08:03:10Z) - Multi-task Learning for Camera Calibration [3.274290296343038]
We present a unique method for predicting intrinsic (principal point offset and focal length) and extrinsic (baseline, pitch, and translation) properties from a pair of images.
By reconstructing the 3D points using a camera model neural network and then using the loss in reconstruction to obtain the camera specifications, this innovative camera projection loss (CPL) method allows us that the desired parameters should be estimated.
arXiv Detail & Related papers (2022-11-22T17:39:31Z) - Uncertainty-Aware Camera Pose Estimation from Points and Lines [101.03675842534415]
Perspective-n-Point-and-Line (Pn$PL) aims at fast, accurate and robust camera localizations with respect to a 3D model from 2D-3D feature coordinates.
arXiv Detail & Related papers (2021-07-08T15:19:36Z) - Calibrating LiDAR and Camera using Semantic Mutual information [8.40460868324361]
We propose an algorithm for automatic, targetless, extrinsic calibration of a LiDAR and camera system using semantic information.
We achieve this goal by maximizing mutual information (MI) of semantic information between sensors, leveraging a neural network to estimate semantic mutual information, and matrix exponential for calibration computation.
arXiv Detail & Related papers (2021-04-24T21:04:33Z) - Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor
Setups [68.8204255655161]
We present a method to calibrate the parameters of any pair of sensors involving LiDARs, monocular or stereo cameras.
The proposed approach can handle devices with very different resolutions and poses, as usually found in vehicle setups.
arXiv Detail & Related papers (2021-01-12T12:02:26Z) - SelfVoxeLO: Self-supervised LiDAR Odometry with Voxel-based Deep Neural
Networks [81.64530401885476]
We propose a self-supervised LiDAR odometry method, dubbed SelfVoxeLO, to tackle these two difficulties.
Specifically, we propose a 3D convolution network to process the raw LiDAR data directly, which extracts features that better encode the 3D geometric patterns.
We evaluate our method's performances on two large-scale datasets, i.e., KITTI and Apollo-SouthBay.
arXiv Detail & Related papers (2020-10-19T09:23:39Z)
This list is automatically generated from the titles and abstracts of the papers in this site.
This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.