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Automatic Extrinsic Calibration for Lidar-Stereo Vehicle Sensor Setups (1705.04085v3)

Published 11 May 2017 in cs.CV and cs.RO

Abstract: Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a tedious calibration process. We present a method for extrinsic calibration of lidar-stereo camera pairs without user intervention. Our calibration approach is aimed to cope with the constraints commonly found in automotive setups, such as low-resolution and specific sensor poses. To demonstrate the performance of our method, we also introduce a novel approach for the quantitative assessment of the calibration results, based on a simulation environment. Tests using real devices have been conducted as well, proving the usability of the system and the improvement over the existing approaches. Code is available at http://wiki.ros.org/velo2cam_calibration

Citations (131)

Summary

  • The paper presents the Bare Demo of IEEEtran.cls, a LaTeX template designed to help researchers format manuscripts for IEEE conferences according to required standards.
  • It highlights key structural components like title/author blocks, abstracts, sectioning, and bibliography management necessary for compliant IEEE formatting.
  • Using this template streamlines the submission process by ensuring consistent, standardized formatting, allowing authors to focus on content quality.

An Overview of "Bare Demo of IEEEtran.cls for IEEE Conferences"

The paper "Bare Demo of IEEEtran.cls for IEEE Conferences," authored by Michael Shell et al., serves as a functional template designed for IEEE conference submissions utilizing \LaTeX, facilitated by the IEEEtran.cls class. The document targets researchers and practitioners within the fields of electrical engineering and computer science who are preparing manuscripts for IEEE conferences. This paper emphasizes standardized formatting, enhancing uniform presentation across submissions.

Objective and Context

The primary objective of this paper is to provide a starting point for authors using \LaTeX\ in creating documents compliant with IEEE formatting requirements. Considering the widespread adoption of \LaTeX\ for technical and scientific documentation, this template ensures that authors can focus on the academic content of their papers, while adhering to IEEE's rigorous presentation standards.

The IEEEtran.cls class, now at version 1.8b and beyond, encompasses a variety of functionalities crucial for document preparation in the context of IEEE conferences. This includes proper font sizes, margins, column formatting, and integration of figures and tables consistent with IEEE styles.

Key Features

In this paper, several structural components are highlighted, including:

  • Title and Author Blocks: The template provides an adaptable framework for title and author details which comply with IEEE's formatting style. This section simplifies the integration of multiple authors from various institutions, demonstrating how to effectively lay out affiliations and contact information.
  • Abstract and Sections: The IEEE standard mandates a concise abstract, providing a succinct overview of the research. This template underscores the necessity of structuring the document into well-defined sections, enhancing readability and flow.
  • Bibliography Management: The paper discusses bibliography construction using the IEEE format, an aspect crucial for maintaining academic integrity and proper citation practices. The use of \LaTeX\ for bibliographic entries ensures that referencing is consistent and up-to-date.

Implications and Future Applications

The adoption of a standardized template like IEEEtran.cls has both practical and theoretical implications. Practically, it streamlines the submission process, saving time for both authors and reviewers and reducing errors related to formatting discrepancies. Theoretically, standardization fosters a consistent presentation, eliminating biases that may arise from non-uniform document presentations.

As advancements in digital document preparation and submission continue, further enhancements to IEEEtran.cls may include more robust automation features and seamless integration with digital platforms and repositories. Moreover, as interdisciplinary research grows, templates that accommodate diverse formatting needs across fields will be increasingly valuable.

Conclusion

The paper "Bare Demo of IEEEtran.cls for IEEE Conferences" is an essential resource for researchers preparing submissions for IEEE conferences. By providing a straightforward, structured template, it allows authors to focus their efforts on the scientific and technical quality of their work while ensuring compliance with IEEE's stringent formatting guidelines. The continued evolution of such resources will be vital in supporting the efficient dissemination of knowledge within the academic and engineering communities.

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