3 papers
cs.CV2024
VBR: A Vision Benchmark in Rome
Leonardo Brizi, Emanuele Giacomini, Luca Di Giammarino +4
This paper presents a vision and perception research dataset collected in Rome, featuring RGB data, 3D point clouds, IMU, and GPS data. We introduce a new benchmark targeting visua…
cs.RO2023
CaLib: Simple and Accurate LiDAR-RGB Calibration using Small Common Markers
Emanuele Giacomini, Leonardo Brizi, Luca Di Giammarino +3
In many fields of robotics, knowing the relative position and orientation between two sensors is a mandatory precondition to operate with multiple sensing modalities. In this conte…
cs.CV2023
Photometric LiDAR and RGB-D Bundle Adjustment
Luca Di Giammarino, Emanuele Giacomini, Leonardo Brizi +2
The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of Simultaneous Localization and Mapping (SLAM) systems. To achieve this, the gold standard i…