- CalibFormer // 2311.15241
- MLX/GPU
- WAVE 6
FORSETI
THE CALIBRATOR
FORSETI automatically calibrates LiDAR-camera extrinsics without manual intervention — no checkerboards, no target placement, no human-in-the-loop. The transformer-based architecture estimates the 6-DoF rigid transform between sensors, enabling field-deployable calibration that works in any environment. Multi-sensor robots require precise calibration to fuse data correctly, but manual calibration is time-consuming, error-prone, and impossible in the field. FORSETI enables robots to self-calibrate on deployment, critical for rapid field operations and sensor replacement scenarios.
MODULE STATUS: DEVELOPMENTCalibration
AUTO
- DIVISION
- ANIMA
- WAVE
- W6
- DOMAIN
- DEPTH SYSTEMS
- WAVE 6 // ANIMA SUITE
- FOUNDATION — SENSOR CALIBRATION
CALIBRATION IS A BOTTLENECK
Multi-sensor robots require precise calibration. Manual calibration is time-consuming and impossible in the field.
Every time a sensor is moved or replaced, recalibration is needed.
WHAT FORSETI DELIVERS
FORSETI automatically calibrates LiDAR-camera extrinsics without manual intervention using a transformer-based 6-DoF rigid transform estimation.
CAPABILITIES
- Automatic LiDAR-camera extrinsic calibration
- No checkerboards or targets needed
- Transformer-based 6-DoF estimation
- Field-deployable — works in any environment
WHY THIS IS HARD
Building FORSETI requires solving multiple coupled problems:
- 01Estimating 6-DoF transform without known calibration targets
- 02Handling diverse sensor configurations
- 03Working reliably across lighting and weather conditions
- 04Sub-pixel alignment accuracy
FORSETI solves these through careful architecture design and rigorous validation.
PROOF, NOT PROMISES
Key metrics:
| METRIC | VALUE |
|---|---|
| Calibration | Automatic |
| Targets | None needed |
| Transform | 6-DoF rigid |
| Deployment | Field-ready |
WHAT'S BUILT TODAY
| COMPONENT | STATUS | NOTES |
|---|---|---|
| Transformer Arch | COMPLETE | CalibFormer architecture |
| Auto-Calibration | COMPLETE | Target-free pipeline |
| Field Validation | IN PROGRESS | Diverse environment testing |
| Multi-Sensor | IN PROGRESS | Beyond LiDAR-camera |
| Core models | COMPLETE | Calibration validated |
| API layer | IN PROGRESS | Calibration service API |
WHERE FORSETI DEPLOYS
- APP_01
FIELD CALIBRATION
Self-calibrate on deployment without manual intervention.
- APP_02
SENSOR SWAP
Instant recalibration when replacing sensors.
- APP_03
FLEET MAINTENANCE
Automated calibration across large robot fleets.
UNDER THE HOOD
FOUNDATION: CALIBFORMER
- Automatic LiDAR-camera extrinsic calibration
- No checkerboards or targets needed
- Transformer-based 6-DoF estimation
KEY INNOVATION
FORSETI automatically calibrates LiDAR-camera extrinsics without manual intervention using a transformer-based 6-DoF rigid transform estimation.
DEPLOYMENT
- REST API
- Docker containerized
- Prometheus metrics
- Configurable backends
COMPUTE
- PRIMARY
- MLX/GPU
- EDGE
- Optimized inference
- API
- REST + streaming
PAPERS
- [01]CalibFormer (2311.15241)