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So far Oxford Robotics Institute has created 61 blog entries.

Kim Leong Ho

MRG Publications [bibtex author=Leong Ho|Kim group=year group_order=desc file=]

Automatic Self-Calibration Of A Full Field-Of-View 3D n-Laser Scanner

Abstract - This paper describes the design, build, automatic self-calibration and evaluation of a 3D Laser sensor using conventional parts. Our goal is to design a system, which is an order of magnitude cheaper than commercial systems, with commensurate performance. In this paper we adopt point cloud “crispness” as the measure of system performance that we [...]

Self-calibration for a 3D laser

Abstract—This paper describes a method for the automatic self-calibration of a 3D Laser sensor. We wish to acquire crisp point clouds and so we adopt a measure of crispness to capture point cloud quality. We then pose the calibration problem as the task of maximising point cloud quality. Concretely, we use Rényi Quadratic Entropy to [...]

Generating Implicit Surfaces from Lidar Data

Abstract—This paper is concerned with generating a continuous implicit representation of a robot’s workspace using sparse point cloud data. We adopt a Gaussian Process (GP) framework to model the underlying workspace surfaces and suggest a non- parametric formulation which allows us to capture the non-functional relation between ground plane and elevation that is not possible [...]

Cross-Calibration of Push-Broom 2D LIDARs and Cameras In Natural Scenes

Abstract— This paper addresses the problem of automatically estimating the relative pose between a push-broom LIDAR and a camera without the need for artificial calibration targets or other human intervention. Further we do not require the sensors to have an overlapping field of view, it is enough that they observe the same scene but at [...]

Road vehicle localization with 2D push-broom lidar and 3D priors

In this paper we describe and demonstrate a method for precisely localizing a road vehicle using a single push-broom 2D laser scanner while leveraging a prior 3D survey. In contrast to conventional scan matching, our laser is oriented downwards, thus causing continual ground strike. Our method exploits this to produce a small 3D swathe of laser data which can be matched [...]

Laser-only road-vehicle localization with dual 2D push-broom LIDARS and 3D priors

In this paper we consider long-term navigation using fixed 2D LIDARs. We consider how localization algorithms based on scan-matching - commonly used in indoor environments - are prone to failure when exposed to a challenging real-world outdoor environment. The driving motivation behind this work is to produce a simple, robust system that can be utilized repeatedly over a long period, rather than [...]

Continuous Vehicle Localisation Using Sparse 3D Sensing, Kernelised Renyi Distance and Fast Gauss Transforms

Abstract—This paper is about estimating a smooth, continuous-time trajectory of a vehicle relative to a prior 3D laser map. We pose the estimation problem as that of finding a sequence of Catmull-Rom splines which optimise the Kernelised Rényi Distance (KRD) between the prior map and live measurements from a 3D laser sensor. Our approach treats [...]