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Accurate characterization of modern on-chip antennas remains challenging, as current probe-station techniques offer limited angular coverage, rely on bespoke hardware, and require frequent manual alignment. This research introduces RAPTAR…
Radars are an ideal complement to cameras: both are inexpensive, solid-state sensors, with cameras offering fine angular resolution, while radars provide metric depth and robustness under adverse weather. However, radar data is more…
Circular targets are widely used in LiDAR-camera extrinsic calibration due to their geometric consistency and ease of detection. However, achieving accurate 3D-2D circular center correspondence remains challenging. Existing methods often…
In this paper, the problem of target localization in the presence of outlying sensors is tackled. This problem is important in practice because in many real-world applications the sensors might report irrelevant data unintentionally or…
Accurate Digital Surface Model (DSM) reconstruction from satellite imagery is critical for applications such as disaster response, urban planning, and large-scale geographic mapping. Existing approaches face a fundamental trade-off:…
Autonomous driving requires robust perception across diverse environmental conditions, yet 3D semantic occupancy prediction remains challenging under adverse weather and lighting. In this work, we present the first study combining 4D radar…
We propose two minimal solutions to the problem of relative pose estimation of (i) a calibrated camera from four points in two views and (ii) a calibrated generalized camera from five points in two views. In both cases, the relative…
Common approach to radial distortion is by the means of polynomial approximation, which introduces distortion-specific parameters into the camera model and requires estimation of these distortion parameters. The task of estimating radial…
The plenoptic camera can capture both angular and spatial information of the rays, enabling 3D reconstruction by single exposure. The geometry of the recovered scene structure is affected by the calibration of the plenoptic camera…
Passive synthetic aperture radar (SAR) uses existing signals of opportunity such as communication and broadcasting signals. In our prior work, we have developed a low-rank matrix recovery (LRMR) method that can reconstruct scenes with…
In this article we purpose a novel method for planar pose estimation of mobile robots. This method is based on an analytic solution (which we derived) for the projection of 3D straight lines, onto the mirror of Non-Central Catadioptric…
LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…
Remote photoplethysmography (rPPG) enables contactless vital sign monitoring using standard RGB cameras. However, existing methods rely on fixed parameters optimized for particular lighting conditions and camera setups, limiting…
4D imaging radar is a type of low-cost millimeter-wave radar(costing merely 10-20$\%$ of lidar systems) capable of providing range, azimuth, elevation, and Doppler velocity information. Accurate extrinsic calibration between millimeter-wave…
Autonomous systems require a continuous and dependable environment perception for navigation and decision-making, which is best achieved by combining different sensor types. Radar continues to function robustly in compromised circumstances…
Real-world systems are often characterized by high-dimensional nonlinear dynamics, making them challenging to control in real time. While reduced-order models (ROMs) are frequently employed in model-based control schemes, dimensionality…
The common approach to radial distortion is by the means of polynomial approximation, which introduces distortion-specific parameters into the camera model and requires estimation of these distortion parameters. The task of estimating…
We tackle the problem of automatic calibration of radially distorted cameras in challenging conditions. Accurately determining distortion parameters typically requires either 1) solving the full Structure from Motion (SfM) problem involving…
Semantic 3D mapping is one of the most important fields in robotics, and has been used in many applications, such as robot navigation, surveillance, and virtual reality. In general, semantic 3D mapping is mainly composed of 3D…
Polynomial and rational functions are the number one choice when it comes to modeling of radial distortion of lenses. However, several extrapolation and numerical issues may arise while using these functions that have not been covered by…