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Several robotic frameworks have been recently developed to assist ophthalmic surgeons in performing complex vitreoretinal procedures such as subretinal injection of advanced therapeutics. These surgical robots show promising capabilities;…
Wide-angle cameras are uniquely positioned for mobile robots, by virtue of the rich information they provide in a small, light, and cost-effective form factor. An accurate calibration of the intrinsics and extrinsics is a critical…
Determining the extrinsic parameter between multiple LiDARs and cameras is essential for autonomous robots, especially for solid-state LiDARs, where each LiDAR unit has a very small Field-of-View (FoV), and multiple units are often used…
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…
The Evryscope is a telescope array designed to open a new parameter space in optical astronomy, detecting short timescale events across extremely large sky areas simultaneously. The system consists of a 780 MPix 22-camera array with an 8150…
The great flexibility of a view camera allows to take high quality photographs that would not be possible any other way. But making a given object into focus is a long and tedious task, although the underlying laws are well known. This…
Low-cost mass-produced sensors and optics have recently made it feasible to build telescope arrays which observe the entire accessible sky simultaneously. In this article we discuss the scientific motivation for these telescopes, including…
A form of prime focus corrector for the Gregory system is proposed that provides the sub-arcsecond field of view up to 3 degrees in diameter for the spectral range 0.35-0.90 microns. The corrector includes five lenses made of same glass…
This work introduces a method that applies images of the extended bodies in the solar system to spacecraft camera calibration. The extended bodies consist of planets and moons that are well-modeled by triaxial ellipsoids. When imaged, the…
Robotic automation has transformed scientific workflows in domains such as chemistry and materials science, yet free-space optics, which is a high precision domain, remains largely manual. Optical systems impose strict spatial and angular…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…
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…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
The VLT Survey Telescope is a f/5.5 modified Ritchey-Chretien imaging telescope, which is being installed at the ESO-Paranal Observatory. It will provide a one square degree corrected field of view to perform survey-projects in the…
Camera calibration is a crucial step in robotics and computer vision. Accurate camera parameters are necessary to achieve robust applications. Nowadays, camera calibration process consists of adjusting a set of data to a pin-hole model,…
We present a method to calibrate a high-resolution wavefront-correcting device with a single, static camera, located in the focal plane; no moving of any component is needed. The method is based on a localized diversity and differential…
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems…
Twilight/night sky images are often used for flat-fielding CCD images, but the brightness gradient in twilight/night sky causes problems of accurate flat-field correction in astronomical images for wide-field telescopes. Using data from the…
We propose a form of a lens corrector at the prime focus of a hyperboloidal mirror that provides a flat field of view up to 3 deg diameter at image quality D_{80} < 0.8 arcsec in integrated (0.32-1.10 mcm) light. The corrector consists of…
Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…