{"id":33,"date":"2019-12-06T18:28:11","date_gmt":"2019-12-06T18:28:11","guid":{"rendered":"http:\/\/mscvprojects.ri.cmu.edu\/2019teamb\/?p=33"},"modified":"2019-12-10T20:13:05","modified_gmt":"2019-12-10T20:13:05","slug":"project-summary","status":"publish","type":"post","link":"https:\/\/mscvprojects.ri.cmu.edu\/2019teamb\/2019\/12\/06\/project-summary\/","title":{"rendered":"Project Summary"},"content":{"rendered":"<p>Visual SLAM relies on calibrated parameters of stereo cameras. However, these parameters might vary over time due to the robot bumping into things or thermal expansion of the camera rig. A method which can re-calibrate the extrinsic of a stereo pair can significantly improve robot &#8216;s autonomy and its deployment time.<\/p>\n<p><span style=\"font-size: 1rem\">In this project, we work on the online calibration and make improvements on both the front end and the back end of SLAM.\u00a0 For the front end, we adopt deep learning based interest points and use geometric optimization\u00a0 to improve calibration. In the back end, we formulate a factor graph optimization which can precisely recover the ground truth calibration parameters in realtime. Experiments are conducted to demonstrate the calibration performance and various ablation analysis are shown.<\/span><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Visual SLAM relies on calibrated parameters of stereo cameras. However, these parameters might vary over time due to the robot bumping into things or thermal expansion of the camera rig. A method which can re-calibrate the extrinsic of a stereo pair can significantly improve robot &#8216;s autonomy and its deployment time. In this project, we &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/mscvprojects.ri.cmu.edu\/2019teamb\/2019\/12\/06\/project-summary\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Project Summary&#8221;<\/span><\/a><\/p>\n","protected":false},"author":37,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-33","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.4 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Project Summary - Online Calibration<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/mscvprojects.ri.cmu.edu\/2019teamb\/2019\/12\/06\/project-summary\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Project Summary - Online Calibration\" \/>\n<meta property=\"og:description\" content=\"Visual SLAM relies on calibrated parameters of stereo cameras. However, these parameters might vary over time due to the robot bumping into things or thermal expansion of the camera rig. A method which can re-calibrate the extrinsic of a stereo pair can significantly improve robot &#8216;s autonomy and its deployment time. In this project, we &hellip; Continue reading &quot;Project Summary&quot;\" \/>\n<meta property=\"og:url\" content=\"https:\/\/mscvprojects.ri.cmu.edu\/2019teamb\/2019\/12\/06\/project-summary\/\" \/>\n<meta property=\"og:site_name\" content=\"Online Calibration\" \/>\n<meta property=\"article:published_time\" content=\"2019-12-06T18:28:11+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2019-12-10T20:13:05+00:00\" \/>\n<meta name=\"author\" content=\"jingguaz\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Written by\" \/>\n\t<meta name=\"twitter:data1\" content=\"jingguaz\" \/>\n\t<meta name=\"twitter:label2\" content=\"Est. reading time\" \/>\n\t<meta name=\"twitter:data2\" content=\"1 minute\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"Article\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/2019\\\/12\\\/06\\\/project-summary\\\/#article\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/2019\\\/12\\\/06\\\/project-summary\\\/\"},\"author\":{\"name\":\"jingguaz\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/#\\\/schema\\\/person\\\/fa0043b648ef3e5e3d9702cc9cb483b9\"},\"headline\":\"Project Summary\",\"datePublished\":\"2019-12-06T18:28:11+00:00\",\"dateModified\":\"2019-12-10T20:13:05+00:00\",\"mainEntityOfPage\":{\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/2019\\\/12\\\/06\\\/project-summary\\\/\"},\"wordCount\":129,\"inLanguage\":\"en-US\"},{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/2019\\\/12\\\/06\\\/project-summary\\\/\",\"url\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/2019\\\/12\\\/06\\\/project-summary\\\/\",\"name\":\"Project Summary - Online Calibration\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/#website\"},\"datePublished\":\"2019-12-06T18:28:11+00:00\",\"dateModified\":\"2019-12-10T20:13:05+00:00\",\"author\":{\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/#\\\/schema\\\/person\\\/fa0043b648ef3e5e3d9702cc9cb483b9\"},\"breadcrumb\":{\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/2019\\\/12\\\/06\\\/project-summary\\\/#breadcrumb\"},\"inLanguage\":\"en-US\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/2019\\\/12\\\/06\\\/project-summary\\\/\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/2019\\\/12\\\/06\\\/project-summary\\\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Home\",\"item\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"Project Summary\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/#website\",\"url\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/\",\"name\":\"Online Calibration\",\"description\":\"Sponsored by Amazon Lab126\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"en-US\"},{\"@type\":\"Person\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/#\\\/schema\\\/person\\\/fa0043b648ef3e5e3d9702cc9cb483b9\",\"name\":\"jingguaz\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"en-US\",\"@id\":\"https:\\\/\\\/secure.gravatar.com\\\/avatar\\\/7c4b40e588fb7a8b74be9609d697df65496eea229df127a5d78198b54d7443da?s=96&d=mm&r=g\",\"url\":\"https:\\\/\\\/secure.gravatar.com\\\/avatar\\\/7c4b40e588fb7a8b74be9609d697df65496eea229df127a5d78198b54d7443da?s=96&d=mm&r=g\",\"contentUrl\":\"https:\\\/\\\/secure.gravatar.com\\\/avatar\\\/7c4b40e588fb7a8b74be9609d697df65496eea229df127a5d78198b54d7443da?s=96&d=mm&r=g\",\"caption\":\"jingguaz\"},\"url\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2019teamb\\\/author\\\/jingguaz\\\/\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"Project Summary - Online Calibration","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/mscvprojects.ri.cmu.edu\/2019teamb\/2019\/12\/06\/project-summary\/","og_locale":"en_US","og_type":"article","og_title":"Project Summary - Online Calibration","og_description":"Visual SLAM relies on calibrated parameters of stereo cameras. 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