CalibNet: Geometrically Supervised Extrinsic Calibration using 3D Spatial Transformer Networks
Why this work is in the frame
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Bibliographic record
Abstract
3D LiDARs and 2D cameras are increasingly being used alongside each other in sensor rigs for perception tasks. Before these sensors can be used to gather meaningful data, however, their extrinsics (and intrinsics) need to be accurately calibrated, as the performance of the sensor rig is extremely sensitive to these calibration parameters. A vast majority of existing calibration techniques require significant amounts of data and/or calibration targets and human effort, severely impacting their applicability in large-scale production systems. We address this gap with CalibNet: a geometrically supervised deep network capable of automatically estimating the 6-DoF rigid body transformation between a 3D LiDAR and a 2D camera in real-time. CalibNet alleviates the need for calibration targets, thereby resulting in significant savings in calibration efforts. During training, the network only takes as input a LiDAR point cloud, the corresponding monocular image, and the camera calibration matrix K. At train time, we do not impose direct supervision (i.e., we do not directly regress to the calibration parameters, for example). Instead, we train the network to predict calibration parameters that maximize the geometric and photometric consistency of the input images and point clouds. CalibNet learns to iteratively solve the underlying geometric problem and accurately predicts extrinsic calibration parameters for a wide range of mis-calibrations, without requiring retraining or domain adaptation. The project page is hosted at https://epiception.github.io/CalibNet.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it