20.500.12556/RUL-148255 Joint calibration of a multimodal sensor system for autonomous vehicles Multimodal sensor systems require precise calibration if they are to be used in the field. Due to the difficulty of obtaining the corresponding features from different modalities, the calibration of such systems is an open problem. We present a systematic approach for calibrating a set of cameras with different modalities (RGB, thermal, polarization, and dual-spectrum near infrared) with regard to a LiDAR sensor using a planar calibration target. Firstly, a method for calibrating a single camera with regard to the LiDAR sensor is proposed. The method is usable with any modality, as long as the calibration pattern is detected. A methodology for establishing a parallax-aware pixel mapping between different camera modalities is then presented. Such a mapping can then be used to transfer annotations, features, and results between highly differing camera modalities to facilitate feature extraction and deep detection and segmentation methods. USV calibration multimodal system annotation autonomous vehicle USV kalibracija večmodalni sistem anotacije avtonomno plovilo true false true Angleški jezik Slovenski jezik Članek v reviji 2023-08-07 13:16:05 2023-08-07 13:16:07 2023-08-08 03:39:52 0000-00-00 00:00:00 2023 0 0 Str. 1-22 iss. 12, [article no.] 5676 Vol. 23 Jun.-2 2023 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.586: 621.713.3 1424-8220 10.3390/s23125676 160796163 sensors-23-05676-v2_(1).pdf sensors-23-05676-v2_(1).pdf 1 24563B0496F149419A393A5DF14964A4 13da022eddd8a68b691f1d9dcfa3a96797522b7d8380a735e3ad85f76c6fa5e4 c8f70897-3514-11ee-aeaf-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=172315 https://www.mdpi.com/1424-8220/23/12/5676 1 cb5458ad-3513-11ee-aeaf-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=172314 Fakulteta za elektrotehniko 0 0 0