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Computer Vision Group
TUM School of Computation, Information and Technology
Technical University of Munich

Technical University of Munich

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Informatik IX
Computer Vision Group

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

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News

04.03.2024

We have twelve papers accepted to CVPR 2024. Check our publication page for more details.

18.07.2023

We have four papers accepted to ICCV 2023. Check out our publication page for more details.

02.03.2023

CVPR 2023

We have six papers accepted to CVPR 2023. Check out our publication page for more details.

15.10.2022

NeurIPS 2022

We have two papers accepted to NeurIPS 2022. Check out our publication page for more details.

15.10.2022

WACV 2023

We have two papers accepted at WACV 2023. Check out our publication page for more details.

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research:vslam:double-sphere [2018/08/20 17:18]
usenko
research:vslam:double-sphere [2019/08/23 14:41]
usenko
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 {{:research:vslam:double-sphere:screen_270_double-sphere.jpg?600|}} {{:research:vslam:double-sphere:screen_270_double-sphere.jpg?600|}}
  
 +
 +==== Open-Source Calibration Tool ====
 +
 +
 +{{:research:vslam:basalt:teaser.png?600|}}
 +
 +The open-source code for calibration is available here: 
 +
 +https://gitlab.com/VladyslavUsenko/basalt.
 +
 +(GitHub mirror: https://github.com/VladyslavUsenko/basalt-mirror)
 +
 +Follow the corresponding [[https://gitlab.com/VladyslavUsenko/basalt/blob/master/doc/Calibration.md|tutorial]]  to see the examples on Euroc, TUM-VI and UZH dataset calibration sequences.
  
 ==== Kalibr Example ==== ==== Kalibr Example ====
  
-We have contributed the implementation of **Extended Unified Camera Model (EUCM)** and **Double Sphere Camera Model (DS)** to [[https://github.com/ethz-asl/kalibr | Kalibr]]. See [[https://github.com/ethz-asl/kalibr/wiki/supported-models| Supported Camera Models]] and examples below for details. +We have contributed the implementation of **Extended Unified Camera Model (EUCM)** and **Double Sphere Camera Model (DS)** to open-source calibration tool [[https://github.com/ethz-asl/kalibr | Kalibr]]. See [[https://github.com/ethz-asl/kalibr/wiki/supported-models| Supported Camera Models]] and examples below for details. 
  
 {{:research:vslam:double-sphere:kalibr.png?600|}} {{:research:vslam:double-sphere:kalibr.png?600|}}
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 </code> </code>
  
-**Note:** Kalibr fails to calibrate pinhole-equi on the TUMVI calibration sequence, which might be a limitation of the way this is implemented in Kalibr. First, Kalibr implements Kannala-Brandt (which corresponds to pinhole-equi in Kalibr) as pinhole+distortion, which limits it to below 180 deg, where this lens is around 190 deg FOV. Second, Kalibr does initialization by optimizing with a single image, which may result in divergence when the parameters are not well constrained by a single image. We found with our own calibration tool that the Kanala-Brandt model can fit this lens quite well.+**Note:** Kalibr fails to calibrate pinhole-equi on the TUMVI calibration sequence, which might be a limitation of the model implementation by Kalibr. First, Kalibr implements Kannala-Brandt (which corresponds to pinhole-equi in Kalibr) as pinhole+distortion, which limits it to below field-of-view below 180 deg. The tested lens has 190 deg FOV. Second, Kalibr does initialization by optimizing with a single image, which may result in divergence when the parameters are not well constrained by a single image. We found with our own calibration tool that the Kanala-Brandt model can fit the lens quite well.
  

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Informatik IX
Computer Vision Group

Boltzmannstrasse 3
85748 Garching info@vision.in.tum.de

Follow us on:

News

04.03.2024

We have twelve papers accepted to CVPR 2024. Check our publication page for more details.

18.07.2023

We have four papers accepted to ICCV 2023. Check out our publication page for more details.

02.03.2023

CVPR 2023

We have six papers accepted to CVPR 2023. Check out our publication page for more details.

15.10.2022

NeurIPS 2022

We have two papers accepted to NeurIPS 2022. Check out our publication page for more details.

15.10.2022

WACV 2023

We have two papers accepted at WACV 2023. Check out our publication page for more details.

More