We present a new mathematical formulation to estimate the intrinsic parameters of a camera in active or robotic platforms. We show that the focal lengths can be estimated using only one point correspondence that relates images taken before and after a degenerate rotation of the camera. The estimated focal lengths are then treated as known parameters to obtain a linear set of equations to calculate the principal point. Assuming that the principal point is close to the image center, the accuracy of the linear equations are increased by integrating the image center into the formulation. We extensively evaluate the formulations on a simulated camera, 3D scenes and real-world images. Our error analysis over simulated and real images indicates that the proposed Simplified Active Calibration method estimates the parameters of a camera with low error rates that can be used as an initial guess for further non-linear refinement procedures. Simplified Active Calibration can be employed in real-time environments for automatic calibrations given the proposed closed-form solutions.
Active domain adaptation (DA) aims to maximally boost the model adaptation on a new target domain by actively selecting limited target data to annotate, whereas traditional active learning methods may be less effective since they do not consider the domain shift issue. Despite active DA methods address this by further proposing targetness to measure the representativeness of target domain characteristics, their predictive uncertainty is usually based on the prediction of deterministic models, which can easily be miscalibrated on data with distribution shift. Considering this, we propose a \tex…
ActiveDC: Distribution Calibration for Active Finetuning
School of Software, Beihang University（北京航空航天大学软件学院）；Hangzhou Innovation Institute, Beihang University（北京航空航天大学杭州创新研究院）；State Key Laboratory of Virtual Reality Technology and Systems, Beihang University（北京航空航天大学虚拟现实技术与系统国家重点实验室）
A New Technique of Camera Calibration: A Geometric Approach Based on Principal Lines
National Chiao Tung University（国立交通大学）；University of California San Diego（加州大学圣迭戈分校）；Industrial Technology Research Institute（工业技术研究院）；University of Washington（华盛顿大学）
Jožef Stefan International Postgraduate School（约瑟夫·斯特凡国际研究生院）；Jožef Stefan Institute（约瑟夫·斯特凡研究所）；Qlector d.o.o.（Qlector有限责任公司）；Faculty of Electrical Engineering, University of Ljubljana（卢布尔雅那大学电气工程学院）；Philips Consumer Lifestyle BV（飞利浦消费生活方式公司）
Quality control is a crucial activity performed by manufacturing enterprises to ensure that their products meet quality standards and avoid potential damage to the brand's reputation. The decreased cost of sensors and connectivity enabled increasing digitalization of manufacturing. In addition, artificial intelligence enables higher degrees of automation, reducing overall costs and time required for defect inspection. This research compares three active learning approaches, having single and multiple oracles, to visual inspection. Six new metrics are proposed to assess the quality of calibrati…
We propose a generic event camera calibration framework using image reconstruction. Instead of relying on blinking LED patterns or external screens, we show that neural-network-based image reconstruction is well suited for the task of intrinsic and extrinsic calibration of event cameras. The advantage of our proposed approach is that we can use standard calibration patterns that do not rely on active illumination. Furthermore, our approach enables the possibility to perform extrinsic calibration between frame-based and event-based sensors without additional complexity. Both simulation and real…
Balancing Accuracy, Calibration, and Efficiency in Active Learning with Vision Transformers Under Label Noise
Department of Information and Computer Sciences, University of Hawai‘i at Manoa（夏威夷大学马诺亚分校信息与计算机科学系）；Department of Computer Science, University of Pretoria（pretoria大学计算机科学系）
This paper presents a novel calibration algorithm for plenoptic cameras, especially the multi-focus configuration, where several types of micro-lenses are used, using raw images only. Current calibration methods rely on simplified projection models, use features from reconstructed images, or require separated calibrations for each type of micro-lens. In the multi-focus configuration, the same part of a scene will demonstrate different amounts of blur according to the micro-lens focal length. Usually, only micro-images with the smallest amount of blur are used. In order to exploit all available…
Frankfurt Institute for Advanced Studies（法兰克福高等研究院）；Hong Kong University of Science and Technology（香港科技大学）
We present a model of the self-calibration of active binocular vision comprising the simultaneous learning of visual representations, vergence, and pursuit eye movements. The model follows the principle of Active Efficient Coding (AEC), a recent extension of the classic Efficient Coding Hypothesis to active perception. In contrast to previous AEC models, the present model uses deep autoencoders to learn sensory representations. We also propose a new formulation of the intrinsic motivation signal that guides the learning of behavior. We demonstrate the performance of the model in simulations.
As neuromorphic technology is maturing, its application to robotics and autonomous vehicle systems has become an area of active research. In particular, event cameras have emerged as a compelling alternative to frame-based cameras in low-power and latency-demanding applications. To enable event cameras to operate alongside staple sensors like lidar in perception tasks, we propose a direct, temporally-decoupled extrinsic calibration method between event cameras and lidars. The high dynamic range, high temporal resolution, and low-latency operation of event cameras are exploited to directly regi…
