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The integration of Optical Intelligent Reflective Surfaces (OIRSs) into Visible Light Communication (VLC) systems is gaining momentum as a valid alternative to RF technologies, harnessing the existing lighting infrastructures and the vast…
This paper presents a convolutional neural network based approach for estimating the relative pose between two cameras. The proposed network takes RGB images from both cameras as input and directly produces the relative rotation and…
A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues. In this paper, an accurate inspection system is proposed for estimating a LiDAR…
Self-diagnosis and self-repair are some of the key challenges in deploying robotic platforms for long-term real-world applications. One of the issues that can occur to a robot is miscalibration of its sensors due to aging, environmental…
Computationally removing the motion blur introduced by camera shake or object motion in a captured image remains a challenging task in computational photography. Deblurring methods are often limited by the fixed global exposure time of the…
Large-scale transmission radiography scanners are used to image vehicles and cargo containers. Acquired images are inspected for threats by a human operator or a computer algorithm. To make accurate detections, it is important that image…
We propose a novel solution to the rigid body localization (RBL) problem, in which the three-dimensional (3D) rotation and translation is estimated by only utilizing the range measurements between the wireless sensors on the rigid body and…
Capturing and labeling camera images in the real world is an expensive task, whereas synthesizing labeled images in a simulation environment is easy for collecting large-scale image data. However, learning from only synthetic images may not…
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 introduction of light emitting diodes (LED) in automotive exterior lighting systems provides opportunities to develop viable alternatives to conventional communication and sensing technologies. Most of the advanced driver-assist and…
This paper introduces a novel approach for image and video orientation estimation by leveraging depth distribution in natural images. The proposed method estimates the orientation based on the depth distribution across different quadrants…
Accurate camera calibration is a precondition for many computer vision applications. Calibration errors, such as wrong model assumptions or imprecise parameter estimation, can deteriorate a system's overall performance, making the reliable…
Photometric calibration is essential to many computer vision applications. One of its key benefits is enhancing the performance of Visual SLAM, especially when it depends on a direct method for tracking, such as the standard KLT algorithm.…
Images incorporate a wealth of information from a robot's surroundings. With the widespread availability of compact cameras, visual information has become increasingly popular for addressing the localisation problem, which is then termed as…
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…
Visual Place Recognition (VPR) in mobile robotics enables robots to localize themselves by recognizing previously visited locations using visual data. While the reliability of VPR methods has been extensively studied under conditions such…
The fusion of LiDARs and cameras has been increasingly adopted in autonomous driving for perception tasks. The performance of such fusion-based algorithms largely depends on the accuracy of sensor calibration, which is challenging due to…
Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…
This paper proposes a novel power-efficient light-emitting diode (LED) placement algorithm for indoor visible light communication (VLC). In the considered model, the LEDs can be designedly placed for high power efficiency while satisfying…
Lifting during manual material handling is a major cause of low-back pain (LBP). As an important risk factor that directly influences the risk of LBP, the Load vertical location (LVL) during lifting needs to be measured and controlled.…