5 papers
Single-Frame Point-Pixel Registration via Supervised Cross-Modal Feature Matching
Yu Han, Zhiwei Huang, Yanting Zhang +5
Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in t…
DST-Calib: A Dual-Path, Self-Supervised, Target-Free LiDAR-Camera Extrinsic Calibration Network
Zhiwei Huang, Yanwei Fu, Yi Zhou +3
LiDAR-camera extrinsic calibration is essential for multi-modal data fusion in robotic perception systems. However, existing approaches typically rely on handcrafted calibration ta…
Environment-Driven Online LiDAR-Camera Extrinsic Calibration
Zhiwei Huang, Jiaqi Li, Hongbo Zhao +5
LiDAR-camera extrinsic calibration (LCEC) is crucial for multi-modal data fusion in autonomous robotic systems. Existing methods, whether target-based or target-free, typically rel…
From Sparse to Dense: Camera Relocalization with Scene-Specific Detector from Feature Gaussian Splatting
Zhiwei Huang, Hailin Yu, Yichun Shentu +2
This paper presents a novel camera relocalization method, STDLoc, which leverages Feature Gaussian as scene representation. STDLoc is a full relocalization pipeline that can achiev…
Online,Target-Free LiDAR-Camera Extrinsic Calibration via Cross-Modal Mask Matching
Zhiwei Huang, Yikang Zhang, Qijun Chen +1
LiDAR-camera extrinsic calibration (LCEC) is crucial for data fusion in intelligent vehicles. Offline, target-based approaches have long been the preferred choice in this field. Ho…