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This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…
Because 3D structure of a roadway environment can be characterized directly by a Light Detection and Ranging (LiDAR) sensors, they can be used to obtain exceptional situational awareness for assitive and autonomous driving systems. Although…
We explore hand-gesture recognition through the use of passive body-worn reflective tags. A data processing pipeline is proposed to address the issue of missing data. Specifically, missing information is recovered through linear and…
In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…
Quantum illumination uses quantum correlations to enhance the detection of an object in the presence of background noise. This advantage has been shown to exist even if one uses non-optimal direct measurements on the two correlated modes.…
In fiber optic sensing, time delays induced by polarization mode dispersion can distort signals in systems relying on phase or intensity variations for measurement, degrading performance, especially in long distance, high-precision…
Optical detection back-action in cantilever resonant or static detection presents a challenge when striving for state-of-the-art performance. The origin and possible routes for minimizing optical back-action have received little attention…
Static gesture recognition is an effective non-verbal communication channel between a user and their devices; however many modern methods are sensitive to the relative pose of the user's hands with respect to the capture device, as parts of…
How to weigh something as precise as possible is a constant endeavor for human being, and mass sensing has been essential to scientific research and many other aspects of modern society. In this work, we explore a special approach to mass…
Gestures are a key component of non-verbal communication in traffic, often helping pedestrian-to-driver interactions when formal traffic rules may be insufficient. This problem becomes more apparent when autonomous vehicles (AVs) struggle…
Beam alignment is an important practical aspect of the application of squeezed states of light. Misalignments in the detection of squeezed light result in a reduction of the observable squeezing level. In the case of squeezed vacuum fields…
This paper considers the problem of visual-inertial sensor fusion in the cooperative case and it provides new theoretical contributions, which regard its observability and its resolvability in closed form. The case of two agents is…
We propose a machine learning-based estimator of the hand state for rehabilitation purposes, using light exoskeletons. These devices are easy to use and useful for delivering domestic and frequent therapies. We build a supervised approach…
Object detection and semantic segmentation are two of the most widely adopted deep learning algorithms in agricultural applications. One of the major sources of variability in image quality acquired in the outdoors for such tasks is…
In our daily life, we often encounter objects that are fragile and can be damaged by excessive grasping force, such as fruits. For these objects, it is paramount to grasp gently -- not using the maximum amount of force possible, but rather…
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit and grippers, variable stem attachment,…
In this work, we propose two cost efficient methods for object identification, using a multi-fingered robotic hand equipped with proprioceptive sensing. Both methods are trained on known objects and rely on a limited set of features,…
We present a real-time gaze tracking system that directly acquires task-relevant latent features using a fully passive optical encoder. Instead of forming and processing full-resolution images, our approach leverages a microlens array with…
Modern smart phones are becoming helpful in the areas of Internet-Of-Things (IoT) and ambient health intelligence. By learning data from several mobile sensors, we detect nearness of the human body to a mobile device in a three-dimensional…
We analyze the observability of motion estimates from the fusion of visual and inertial sensors. Because the model contains unknown parameters, such as sensor biases, the problem is usually cast as a mixed identification/filtering, and the…