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NIFTi is about human-robot cooperation. About teams of robots and humans doing tasks together, interacting together to try and reach a shared goal. NIFTi looks at how the robot could bear the human in mind. Literally. When determining what to do or say next in human-robot interaction; when, and how. NIFTi puts the human factor into cognitive robots, and human-robot team interaction in particular.   Each year, NIFTi evaluates its systems together with several USAR organizations. Rescue personnel teams up with NIFTi robots to carry out realistic missions, in real-life training areas. 

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V. Kubelka and T. Svoboda (2011)

NIFTi lidar-camera calibration

CMP, Department of Electrotechnical Engineering, Czech Technical University, Technical Report(CTU–CMP–2011–15,).

The NIFTi robot is equipped – among others – with a rotating laser scanner and an omnidirectional camera. This paper describes a practical approach for mutual calibration of the sensors. We make use of few publicly available packages and add few utilities for data conversion. A planar checker board pattern is shown at several 3D positions to the laser sensor and the camera simultaneously. Necessary correspondences between Lidar 3D points and images are assigned manually. The procedure yields a complete geometric calibration of the camera and transformation between the camera and the Lidar coordinate system.