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Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…
Taking advantage of the rolling shutter effect of CMOS cameras in smartphones is a common practice to increase the transfered data rate with visible light communication (VLC) without employing external equipment such as photodiodes. VLC can…
Advancements in lighting systems and photodetectors provide opportunities to develop viable alternatives to conventional communication and sensing technologies, especially in the vehicular industry. Most of the studies that propose visible…
We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an…
Visual-Inertial (VI) sensors are popular in robotics, self-driving vehicles, and augmented and virtual reality applications. In order to use them for any computer vision or state-estimation task, a good calibration is essential. However,…
Joint audio-visual speaker tracking requires that the locations of microphones and cameras are known and that they are given in a common coordinate system. Sensor self-localization algorithms, however, are usually separately developed for…
The visible light communication (VLC) by LED is one of the important communication methods because LED can work as high speed and VLC sends the information by high flushing LED. We use the pulse wave modulation for the VLC with LED because…
This paper introduces a highly efficient algorithm capable of jointly estimating scale and rotation between two images with sub-pixel precision. Image alignment serves as a critical process for spatially registering images captured from…
This paper proposes a new hybrid algorithm for sampling virtual point light (VPL). The indirect lighting calculation of the scene is used to distribute the VPL reasonably. In the process of generating VPL, we divide the scene into two parts…
Preparing appropriate images for camera calibration is crucial to obtain accurate results. In this paper, new suggestions for preparing such data to alleviate the adverse effect of radial distortion for a calibration procedure using…
Class-incremental learning requires a learning system to continually learn knowledge of new classes and meanwhile try to preserve previously learned knowledge of old classes. As current state-of-the-art methods based on Vision-Language…
Photovoltaic (PV) modules have been employed in visible light communication (VLC) for simultaneous energy harvesting and data reception. A PV-based receiver features easy optical alignment and self-powered operation. It is commonly assumed…
We propose a robust calibration pipeline that optimises the selection of calibration samples for the estimation of calibration parameters that fit the entire scene. We minimise user error by automating the data selection process according…
Vehicular visible light communication (V-VLC) aims to provide secure complementary vehicle to everything communications (V2X) to increase road safety and traffic efficiency. V-VLC provides directional transmissions, mainly enabling…
Vision-Language Pre-training (VLP) methods based on object detection enjoy the rich knowledge of fine-grained object-text alignment but at the cost of computationally expensive inference. Recent Visual-Transformer (ViT)-based approaches…
Large Vision-Language Models (LVLMs) have made remarkable developments along with the recent surge of large language models. Despite their advancements, LVLMs have a tendency to generate plausible yet inaccurate or inconsistent information…
One of the most important issues in the image processing is the approximation of the image that has been lost due to the blurring process. These types of matters are divided into non-blind and blind problems. The second type of problem is…
We propose an automatic method for pose and motion estimation against a ground surface for a ground-moving robot-mounted monocular camera. The framework adopts a semi-dense approach that benefits from both a feature-based method and an…
This paper quantifies an error source that limits the accuracy of lidar scan matching, particularly for voxel-based methods. Lidar scan matching, which is used in dead reckoning (also known as lidar odometry) and mapping, computes the…
We present VLPG-Nav, a visual language navigation method for guiding robots to specified objects within household scenes. Unlike existing methods primarily focused on navigating the robot toward objects, our approach considers the…