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Recently, the rapid development of Solid-State LiDAR (SSL) enables low-cost and efficient obtainment of 3D point clouds from the environment, which has inspired a large quantity of studies and applications. However, the non-uniformity of…
Various optical methods for measuring positions of micro-objects in 3D have been reported in the literature. Nevertheless, majority of them are not suitable for real-time operation, which is needed, for example, for feedback position…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between…
The design of an integrated optical chip is proposed containing a rotation sensing ring resonator (optical gyroscope) coupled to an inverse weak value amplified Sagnac interferometer that amplifies the signal containing the phase…
Accurately calibrating light field camera is essential to its applications. Rapid progress has been made in this area in the past decades. In this paper, detailed analysis was first performed towards the state of the art projection models…
Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which…
This study proposes a non-contact photo-reflector-based joint torque sensor for precise joint-level torque control and safe physical interaction. Current-sensor-based torque estimation in many collaborative robots suffers from poor…
A common prerequisite for evaluating a visual(-inertial) odometry (VO/VIO) algorithm is to align the timestamps and the reference frame of its estimated trajectory with a reference ground-truth derived from a system of superior precision,…
To obtain an accurate cosmological inference from upcoming weak lensing surveys such as the one conducted by Euclid, the shear measurement requires calibration using galaxy image simulations. We study the efficiency of different noise…
Surround-View System (SVS) is an essential component in Advanced Driver Assistance System (ADAS) and requires precise calibrations. However, conventional offline extrinsic calibration methods are cumbersome and time-consuming as they rely…
Hand-eye calibration is a common problem in the field of collaborative robotics, involving the determination of the transformation matrix between the visual sensor and the robot flange to enable vision-based robotic tasks. However, this…
This paper presents an open source LiDAR-camera calibration toolbox that is general to LiDAR and camera projection models, requires only one pairing of LiDAR and camera data without a calibration target, and is fully automatic. For…
Autonomous systems often employ multiple LiDARs to leverage the integrated advantages, enhancing perception and robustness. The most critical prerequisite under this setting is the estimating the extrinsic between each LiDAR, i.e.,…
Decarbonization of the transport sector sets increasingly strict demands to maximize thermal efficiency and minimize greenhouse gas emissions of Internal Combustion Engines. This has led to complex engines with a surge in the number of…
Recent methods to automatically calibrate stationary eye trackers were shown to effectively reduce inherent calibration distortion. However, these methods require additional information, such as mouse clicks or on-screen content. We propose…
Rotation estimation plays a fundamental role in many computer vision and robot tasks. However, efficiently estimating rotation in large inputs containing numerous outliers (i.e., mismatches) and noise is a recognized challenge. Many robust…
Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a…
We propose a solution for sensor extrinsic self-calibration with very low time complexity, competitive accuracy and graceful handling of often-avoided corner cases: drift in calibration parameters and unobservable directions in the…
In pace with the electronic technology development and the production technology improvement, industrial robot Give Scope to the Advantage in social services and industrial production. However, due to long-term mechanical wear and…