Search Results - "Heng, Lionel"

3D visual perception for self-driving cars using a multi-camera system: Calibration, mapping, localization, and obstacle detection by Häne, Christian, Heng, Lionel, Lee, Gim Hee, Fraundorfer, Friedrich, Furgale, Paul, Sattler, Torsten, Pollefeys, Marc

“…Cameras are a crucial exteroceptive sensor for self-driving cars as they are low-cost and small, provide appearance information about the environment, and work…”
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Vision-Controlled Micro Flying Robots: From System Design to Autonomous Navigation and Mapping in GPS-Denied Environments by Scaramuzza, Davide, Achtelik, Michael C., Doitsidis, Lefteris, Friedrich, Fraundorfer, Kosmatopoulos, Elias, Martinelli, Agostino, Achtelik, Markus W., Chli, Margarita, Chatzichristofis, Savvas, Kneip, Laurent, Gurdan, Daniel, Heng, Lionel, Lee, Gim Hee, Lynen, Simon, Pollefeys, Marc, Renzaglia, Alessandro, Siegwart, Roland, Stumpf, Jan Carsten, Tanskanen, Petri, Troiani, Chiara, Weiss, Stephan, Meier, Lorenz

“…Autonomous microhelicopters will soon play a major role in tasks like search and rescue, environment monitoring, security surveillance, and inspection. If they…”
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Real-Time Direct Dense Matching on Fisheye Images Using Plane-Sweeping Stereo by Hane, Christian, Heng, Lionel, Gim Hee Lee, Sizov, Alexey, Pollefeys, Marc

“…In this paper, we propose an adaptation of camera projection models for fisheye cameras into the plane-sweeping stereo matching algorithm. This adaptation…”
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Automatic Targetless Extrinsic Calibration of Multiple 3D LiDARs and Radars by Heng, Lionel

“…Many self-driving vehicles use a multi-sensor system comprising multiple 3D LiDAR and radar sensors for robust all-round perception. Precise calibration of…”
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Self-calibration and visual SLAM with a multi-camera system on a micro aerial vehicle by Heng, Lionel, Lee, Gim Hee, Pollefeys, Marc

“…The use of a multi-camera system enables a robot to obtain a surround view, and thus, maximize its perceptual awareness of its environment. If vision-based…”
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PIXHAWK: A micro aerial vehicle design for autonomous flight using onboard computer vision by Meier, Lorenz, Tanskanen, Petri, Heng, Lionel, Lee, Gim Hee, Fraundorfer, Friedrich, Pollefeys, Marc

“…We describe a novel quadrotor Micro Air Vehicle (MAV) system that is designed to use computer vision algorithms within the flight control loop. The main…”
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Leveraging Image-based Localization for Infrastructure-based Calibration of a Multi-camera Rig by Heng, Lionel, Furgale, Paul, Pollefeys, Marc

“…Most existing calibration methods for multi‐camera rigs are computationally expensive, use installations of known fiducial markers, and require expert…”
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Semi-direct visual odometry for a fisheye-stereo camera by Heng, Lionel, Choi, Benjamin

“…We present a semi-direct visual odometry algorithm for a fisheye-stereo camera. In a tracking thread, we simultaneously track oriented patches and estimate the…”
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Continuous-time Radar-inertial Odometry for Automotive Radars by Ng, Yin Zhi, Choi, Benjamin, Tan, Robby, Heng, Lionel

“…We present an approach for radar-inertial odometry which uses a continuous-time framework to fuse measurements from multiple automotive radars and an inertial…”
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Autonomous Visual Mapping and Exploration With a Micro Aerial Vehicle by Heng, Lionel, Honegger, Dominik, Lee, Gim Hee, Meier, Lorenz, Tanskanen, Petri, Fraundorfer, Friedrich, Pollefeys, Marc

“…Cameras are a natural fit for micro aerial vehicles (MAVs) due to their low weight, low power consumption, and two‐dimensional field of view. However,…”
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CamOdoCal: Automatic intrinsic and extrinsic calibration of a rig with multiple generic cameras and odometry by Heng, Lionel, Bo Li, Pollefeys, Marc

“…Multiple cameras are increasingly prevalent on robotic and human-driven vehicles. These cameras come in a variety of wide-angle, fish-eye, and catadioptric…”
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A multiple-camera system calibration toolbox using a feature descriptor-based calibration pattern by Bo Li, Heng, Lionel, Koser, Kevin, Pollefeys, Marc

“…This paper presents a novel feature descriptor-based calibration pattern and a Matlab toolbox which uses the specially designed pattern to easily calibrate…”
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Vision-based autonomous mapping and exploration using a quadrotor MAV by Fraundorfer, F., Heng, L., Honegger, D., Lee, G. H., Meier, L., Tanskanen, P., Pollefeys, M.

“…In this paper, we describe our autonomous vision-based quadrotor MAV system which maps and explores unknown environments. All algorithms necessary for…”
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Towards Robust Visual Odometry with a Multi-Camera System by Liu, Peidong, Geppert, Marcel, Heng, Lionel, Sattler, Torsten, Geiger, Andreas, Pollefeys, Marc

“…We present a visual odometry (VO) algorithm for a multi-camera system and robust operation in challenging environments. Our algorithm consists of a pose…”
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Direct visual odometry for a fisheye-stereo camera by Peidong Liu, Heng, Lionel, Sattler, Torsten, Geiger, Andreas, Pollefeys, Marc

“…We present a direct visual odometry algorithm for a fisheye-stereo camera. Our algorithm performs simultaneous camera motion estimation and semi-dense…”
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Real-time 3D navigation for autonomous vision-guided MAVs by Shengdong Xu, Honegger, Dominik, Pollefeys, Marc, Heng, Lionel

“…Autonomous navigation of micro aerial vehicles (MAVs) in a-priori unknown environments is one of the most challenging problems in robotics. First, a MAV has to…”
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Toward automated driving in cities using close-to-market sensors: An overview of the V-Charge Project by Furgale, Paul, Li, Bo, Schmidt, Bastian, Nguyen, Thien Nghia, Cardarelli, Elena, Cattani, Stefano, Bruning, Stefan, Horstmann, Sven, Stellmacher, Martin, Mielenz, Holger, Koser, Kevin, Schwesinger, Ulrich, Beermann, Markus, Hane, Christian, Heng, Lionel, Lee, Gim Hee, Fraundorfer, Friedrich, Iser, Rene, Triebel, Rudolph, Posner, Ingmar, Newman, Paul, Wolf, Lars, Rufli, Martin, Pollefeys, Marc, Brosig, Stefan, Effertz, Jan, Pradalier, Cedric, Siegwart, Roland, Derendarz, Wojciech, Grimmett, Hugo, Muhlfellner, Peter, Wonneberger, Stefan, Timpner, Julian, Rottmann, Stephan

“…Future requirements for drastic reduction of CO 2 production and energy consumption will lead to significant changes in the way we see mobility in the years to…”
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Efficient visual exploration and coverage with a micro aerial vehicle in unknown environments by Heng, Lionel, Gotovos, Alkis, Krause, Andreas, Pollefeys, Marc

“…In this paper, we propose a novel and computationally efficient algorithm for simultaneous exploration and coverage with a vision-guided micro aerial vehicle…”
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A 4-point algorithm for relative pose estimation of a calibrated camera with a known relative rotation angle by Bo Li, Heng, Lionel, Gim Hee Lee, Pollefeys, Marc

“…We propose an algorithm to estimate the relative camera pose using four feature correspondences and one relative rotation angle measurement. The algorithm can…”
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Real-time photo-realistic 3D mapping for micro aerial vehicles by Heng, Lionel, Lee, Gim Hee, Fraundorfer, Friedrich, Pollefeys, Marc

“…We present a real-time photo-realistic 3D mapping framework for micro aerial vehicles (MAVs). RGBD images are generated from either stereo or structured light…”
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