arXiv subjects

Yuxin Shao

Publications and source records attributed to Yuxin Shao.

2 recordsLinked to original sources

arXiv2025

A Low-Cost Portable Lidar-based Mobile Mapping System on an Android Smartphone

The rapid advancement of the metaverse, digital twins, and robotics underscores the demand for low-cost, portable mapping systems for reality capture. Current mobile solutions, such as the Leica BLK2Go and lidar-equipped smartphones, either come at a high cost or are limited in range and accuracy. Leveraging the proliferation and technological evolution of mobile devices alongside recent advancements in lidar technology, we introduce a novel, low-cost, portable mobile mapping system. Our system integrates a lidar unit, an Android smartphone, and an RTK-GNSS stick. Running on the Android platform, it features lidar-inertial odometry built with the NDK, and logs data from the lidar, wide-angle camera, IMU, and GNSS. With a total bill of materials (BOM) cost under 2,000 USD and a weight of about 1 kilogram, the system achieves a good balance between affordability and portability. We detail the system design, multisensor calibration, synchronization, and evaluate its performance for tracking and mapping. To further contribute to the community, the system's design and software are made open source at: https://github.com/OSUPCVLab/marslogger_android/releases/tag/v2.1

cs.RO↗

arXiv2024

Geometric Wide-Angle Camera Calibration: A Review and Comparative Study

Wide-angle cameras are widely used in photogrammetry and autonomous systems which rely on the accurate metric measurements derived from images. To find the geometric relationship between incoming rays and image pixels, geometric camera calibration (GCC) has been actively developed. Aiming to provide practical calibration guidelines, this work surveys the existing GCC tools and evaluates the representative ones for wide-angle cameras. The survey covers camera models, calibration targets, and algorithms used in these tools, highlighting their properties and the trends in GCC development. The evaluation compares six target-based GCC tools, namely, BabelCalib, Basalt, Camodocal, Kalibr, the MATLAB calibrator, and the OpenCV-based ROS calibrator, with simulated and real data for wide-angle cameras described by four parametric projection models. These tests reveal the strengths and weaknesses of these camera models, as well as the repeatability of these GCC tools. In view of the survey and evaluation, future research directions of wide-angle GCC are also discussed.

eess.IV↗