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Event-based structured light systems have recently been introduced as an exciting alternative to conventional frame-based triangulation systems for the 3D measurements of diffuse surfaces. Important benefits include the fast capture speed…
This paper numerically investigates the feasibility of lensless zoomable holographic multiple projections to tilted planes. We have already developed lensless zoomable holographic single projection using scaled diffraction, which calculates…
Template-based 3D object tracking still lacks a high-precision benchmark of real scenes due to the difficulty of annotating the accurate 3D poses of real moving video objects without using markers. In this paper, we present a multi-view…
In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…
We propose a non-learning depth completion method for a sparse depth map captured using a light detection and ranging (LiDAR) sensor guided by a pair of stereo images. Generally, conventional stereo-aided depth completion methods have two…
We present a real-time approach for image-based localization within large scenes that have been reconstructed offline using structure from motion (Sfm). From monocular video, our method continuously computes a precise 6-DOF camera pose, by…
This paper presents a novel framework to accelerate score-based diffusion models. It first converts the standard stable diffusion model into the Fokker-Planck formulation which results in solving large linear systems for each image. For…
Convolutional networks optimized for accuracy on challenging, dense prediction tasks are prohibitively slow to run on each frame in a video. The spatial similarity of nearby video frames, however, suggests opportunity to reuse computation.…
Video object segmentation, aiming to segment the foreground objects given the annotation of the first frame, has been attracting increasing attentions. Many state-of-the-art approaches have achieved great performance by relying on online…
This paper proposes a method of estimating micro-motion of an object at each pixel that is too small to detect under a common setup of camera and illumination. The method introduces an active-lighting approach to make the motion visually…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
One of the most common methods for reconstructing three-dimensional (3D) images of real objects is digital holography. This technique relies on the use of electro-optical devices that modify the phase or amplitude of light fields in a…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
Most model-free visual object tracking methods formulate the tracking task as object location estimation given by a 2D segmentation or a bounding box in each video frame. We argue that this representation is limited and instead propose to…
We demonstrated a CMOS imaging system that adapts each pixel's exposure and sampling rate to capture high dynamic range (HDR) videos. The system consist of a custom designed image sensor with pixel-wise exposure configurability and a…
We introduce a structured light system that enables full-frame 3D scanning at speeds of $1000\text{ fps}$, four times faster than the previous fastest systems. Our key innovation is the use of a custom acousto-optic light scanning device…
We present Point2Pose, a model-free method for causal 6D pose tracking of multiple rigid objects from monocular RGB-D video. Initialized only from sparse image points on the objects to be tracked, our approach tracks multiple unseen objects…
Distributed multiple-input multiple-output (D-MIMO) is a promising technology for simultaneous communication and positioning. However, phase synchronization between multiple access points in D-MIMO is challenging and methods that function…