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Calibration 🦾

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LoA

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338,616 views • 2 months ago •via X (Twitter)

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Introducing ✨Posed DROID✨, results of our efforts at automatic post-hoc calibration of a large-scale robotics manipulation dataset. We provide: 🤖 ~36k calibrated episodes with good quality extrinsic calibration 🦾 ~24k calibrated multi-view episodes with good-quality multi-view camera calibration ✅ Quality assessment metrics for all provided camera poses To achieve this, we utilize: 1️⃣ Auto Segment Anything (SAM) based filtering (Camera-to-Base Calibration) 2️⃣ Tuned CtRNet-X for bringing in additional cams (Camera-to-Base Calibration) 3️⃣ Pretrained DUST3R with depth-based pose optimization (Camera-to-Camera Calibration) Try it out at: Learn more at: 🌐 arXiv: 📄 Blog: 🧵 1/n
0:20

Introducing ✨Posed DROID✨, results of our efforts at automatic post-hoc calibration of a large-scale robotics manipulation dataset. We provide: 🤖 ~36k calibrated episodes with good quality extrinsic calibration 🦾 ~24k calibrated multi-view episodes with good-quality multi-view camera calibration ✅ Quality assessment metrics for all provided camera poses To achieve this, we utilize: 1️⃣ Auto Segment Anything (SAM) based filtering (Camera-to-Base Calibration) 2️⃣ Tuned CtRNet-X for bringing in additional cams (Camera-to-Base Calibration) 3️⃣ Pretrained DUST3R with depth-based pose optimization (Camera-to-Camera Calibration) Try it out at: Learn more at: 🌐 arXiv: 📄 Blog: 🧵 1/n

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