Related papers: Automated alignment of a reconfigurable optical sy…
In the rapidly evolving field of optical engineering, precise alignment of multi-lens imaging systems is critical yet challenging, as even minor misalignments can significantly degrade performance. Traditional alignment methods rely on…
The alignment of optical systems is a critical step in their manufacture. Alignment normally requires considerable knowledge and expertise of skilled operators. The automation of such processes has several potential advantages, but requires…
Aligning a lens system relative to an imager is a critical challenge in camera manufacturing. While optimal alignment can be mathematically computed under ideal conditions, real-world deviations caused by manufacturing tolerances often…
The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to complete the grasping of the target even if occlusion occurs…
We demonstrate optimal state estimation for a cavity optomechanical system through Kalman filtering. By taking into account nontrivial experimental noise sources, such as colored laser noise and spurious mechanical modes, we implement a…
This paper presents a fault-tolerant 3D vision system for autonomous robotic operation. In particular, pose estimation of space objects is achieved using 3D vision data in an integrated Kalman filter (KF) and an Iterative Closest Point…
In the context of control of smart structures, we present an approach for state estimation of adaptive buildings with active load-bearing elements. For obtaining information on structural deformation, a system composed of a digital camera…
This paper proposes a method for calibrating control parameters. Examples of such control parameters are gains of PID controllers, weights of a cost function for optimal control, filter coefficients, the sliding surface of a sliding mode…
As free-space optical systems grow in scale and complexity, troubleshooting becomes increasingly time-consuming and, in the case of remote installations, perhaps impractical. An example of a task that is often laborious is the alignment of…
We investigate methods to calibrate the non-common path aberrations at an adaptive optics system having a wavefront-correcting device working at an extremely high resolution (larger than 150x150). We use focal-plane images collected…
Space-based coronagraphs for future earth-like planet detection will require focal plane wavefront control techniques to achieve the necessary contrast levels. These correction algorithms are iterative and the control methods require an…
This paper illustrates the way for estimating position and orientation of a vehicle with an Extended Kalman Filter (EKF). For this purpose a non-linear model is designed and an adaptive calculation of measurement noise covariance matrix is…
In contemporary imaging systems, achieving optimal auto-focus (AF) performance hinges on precise lens positioning. Extensive research has delved into refining algorithms for determining the ideal lens position across passive, active, and…
Visual perception is regularly used by humans and robots for navigation. By either implicitly or explicitly mapping the environment, ego-motion can be determined and a path of actions can be planned. The process of mapping and navigation…
Multichannel, infinite-conjugate optical systems easily allow implementation of multiple image paths and imaging modes into a single microscope. Traditional optical alignment methods which rely on additional hardware are not always simple…
In this paper, a self-calibration approach for eye-in-hand robots using SLAM is considered. The goal is to calibrate the positioning of a robotic arm, with a camera mounted on the end-effector automatically using a SLAM-based method like…
Working with finite numbers of modes to describe, generate and detect optical fields can be both mathematically economical and physically useful. Such a modal basis can map directly to various applications in communications, sensing and…
State estimation for legged robots is challenging due to their highly dynamic motion and limitations imposed by sensor accuracy. By integrating Kalman filtering, optimization, and learning-based modalities, we propose a hybrid solution that…
This paper addresses the challenge of probabilistic parameter estimation given measurement uncertainty in real-time. We provide a general formulation and apply this to pose estimation for an autonomous visual landing system. We present…
We introduce new linear mathematical formulations to calculate the focal length of a camera in an active platform. Through mathematical derivations, we show that the focal lengths in each direction can be estimated using only one point…