2023-11-28 更新
CalibFormer: A Transformer-based Automatic LiDAR-Camera Calibration Network
Authors:Yuxuan Xiao, Yao Li, Chengzhen Meng, Xingchen Li, Yanyong Zhang
The fusion of LiDARs and cameras has been increasingly adopted in autonomous driving for perception tasks. The performance of such fusion-based algorithms largely depends on the accuracy of sensor calibration, which is challenging due to the difficulty of identifying common features across different data modalities. Previously, many calibration methods involved specific targets and/or manual intervention, which has proven to be cumbersome and costly. Learning-based online calibration methods have been proposed, but their performance is barely satisfactory in most cases. These methods usually suffer from issues such as sparse feature maps, unreliable cross-modality association, inaccurate calibration parameter regression, etc. In this paper, to address these issues, we propose CalibFormer, an end-to-end network for automatic LiDAR-camera calibration. We aggregate multiple layers of camera and LiDAR image features to achieve high-resolution representations. A multi-head correlation module is utilized to identify correlations between features more accurately. Lastly, we employ transformer architectures to estimate accurate calibration parameters from the correlation information. Our method achieved a mean translation error of $0.8751 \mathrm{cm}$ and a mean rotation error of $0.0562 ^{\circ}$ on the KITTI dataset, surpassing existing state-of-the-art methods and demonstrating strong robustness, accuracy, and generalization capabilities.
PDF
点此查看论文截图
Optimization of Image Processing Algorithms for Character Recognition in Cultural Typewritten Documents
Authors:Mariana Dias, Carla Teixeira Lopes
Linked Data is used in various fields as a new way of structuring and connecting data. Cultural heritage institutions have been using linked data to improve archival descriptions and facilitate the discovery of information. Most archival records have digital representations of physical artifacts in the form of scanned images that are non-machine-readable. Optical Character Recognition (OCR) recognizes text in images and translates it into machine-encoded text. This paper evaluates the impact of image processing methods and parameter tuning in OCR applied to typewritten cultural heritage documents. The approach uses a multi-objective problem formulation to minimize Levenshtein edit distance and maximize the number of words correctly identified with a non-dominated sorting genetic algorithm (NSGA-II) to tune the methods’ parameters. Evaluation results show that parameterization by digital representation typology benefits the performance of image pre-processing algorithms in OCR. Furthermore, our findings suggest that employing image pre-processing algorithms in OCR might be more suitable for typologies where the text recognition task without pre-processing does not produce good results. In particular, Adaptive Thresholding, Bilateral Filter, and Opening are the best-performing algorithms for the theatre plays’ covers, letters, and overall dataset, respectively, and should be applied before OCR to improve its performance.
PDF 25 pages, 4 figures
点此查看论文截图