Related papers: Locating Transparent Objects to Millimetre Accurac…
Consider the goal of visiting every part of a room that is not blocked by obstacles. Doing so efficiently requires both sensors and planning. Our findings suggest a method of inexpensive optical range finding for robotic room traversal. Our…
We report a positioning method for transparent targets with an accuracy of \SI{2}{\mu m} for a compact laser proton accelerator. The positioning system consists of two light-emitting diodes (LED), a long working distance objective and two…
The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…
A novel method is proposed to measure the refractive indices (RIs) of the materials of different transparent solid state media. To exploit the advantage of non-contact measurement laser beam interferometry is used as an effective technique…
A remote-sensing system that can determine the position of hidden objects has applications in many critical real-life scenarios, such as search and rescue missions and safe autonomous driving. Previous work has shown the ability to range…
This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…
In order to fully function in human environments, robot perception will need to account for the uncertainty caused by translucent materials. Translucency poses several open challenges in the form of transparent objects (e.g., drinking…
Curved refractive objects are common in the human environment, and have a complex visual appearance that can cause robotic vision algorithms to fail. Light-field cameras allow us to address this challenge by capturing the view-dependent…
The ability to grasp and manipulate transparent objects is a major challenge for robots. Existing depth cameras have difficulty detecting, localizing, and inferring the geometry of such objects. We propose using neural radiance fields…
We present a novel method for extrinsically calibrating a camera and a 2D Laser Rangefinder (LRF) whose beams are invisible from the camera image. We show that point-to-plane constraints from a single observation of a V-shaped calibration…
Vehicles, search and rescue personnel, and endoscopes use flash lights to locate, identify, and view objects in their surroundings. Here we show the first steps of how all these tasks can be done around corners with consumer cameras. Recent…
Translucency is prevalent in everyday scenes. As such, perception of transparent objects is essential for robots to perform manipulation. Compared with texture-rich or texture-less Lambertian objects, transparency induces significant…
The segmentation of transparent objects can be very useful in computer vision applications. However, because they borrow texture from their background and have a similar appearance to their surroundings, transparent objects are not handled…
Deploying advanced imaging solutions to robotic and autonomous systems by mimicking human vision requires simultaneous acquisition of multiple fields of views, named the peripheral and fovea regions. Low-resolution peripheral field provides…
A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
Recently, significant progress has been made in the study of methods for 3D reconstruction from multiple images using implicit neural representations, exemplified by the neural radiance field (NeRF) method. Such methods, which are based on…
We present TOPGN, a novel method for real-time transparent obstacle detection for robot navigation in unknown environments. We use a multi-layer 2D grid map representation obtained by summing the intensities of lidar point clouds that lie…
Eyeframe lens tracing is an important process in the optical industry that requires sub-millimeter precision to ensure proper lens fitting and optimal vision correction. Traditional frame tracers rely on mechanical tools that need precise…
Microscopes and various forms of interferometers have been used for decades in optical metrology of objects that are typically larger than the wavelength of light {\lambda}. However, metrology of subwavelength objects was deemed impossible…