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We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
We introduce a novel approach for depth estimation using images obtained from monocular structured light systems. In contrast to many existing methods that depend on image matching, our technique employs a density voxel grid to represent…
Line segment detection plays a cornerstone role in computer vision tasks. Among numerous detection methods that have been recently proposed, the ones based on edge drawing attract increasing attention owing to their excellent detection…
We present an algorithm to estimate the rotation pole of a principal-axis rotator using silhouette images collected from multiple camera poses. First, a set of images is stacked to form a single silhouette-stack image, where the object's…
Intensity mapping has emerged as a promising tool to probe the three-dimensional structure of the universe. The traditional approach of galaxy redshift surveys is based on individual galaxy detection, typically performed by thresholding and…
This paper presents a mutual information (MI) based algorithm for the estimation of full 6-degree-of-freedom (DOF) rigid body transformation between two overlapping point clouds. We first divide the scene into a 3D voxel grid and define…
Current experiment techniques for vorticity measurement suffer from limited spatial and temporal resolution to resolve the small-scale eddy dynamics in turbulence. In this study, we develop a new method for direct vorticity measurement in…
Three-dimensional particle tracking is an essential tool in studying dynamics under the microscope, namely, fluid dynamics in microfluidic devices, bacteria taxis, cellular trafficking. The 3d position can be determined using 2d imaging…
Robust task-oriented grasp planning is vital for autonomous robotic precision assembly tasks. Knowledge of the objects' geometry and preconditions of the target task should be incorporated when determining the proper grasp to execute.…
Detection of corner is the most essential process in a large number of computer vision and image processing applications. We have mentioned a number of popular contour-based corner detectors in our paper. Among all these detectors chord to…
Detecting symmetry is crucial for effective object grasping for several reasons. Recognizing symmetrical features or axes within an object helps in developing efficient grasp strategies, as grasping along these axes typically results in a…
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…
Most of the advanced control systems use sensor-based feedback for robust control. Tilt angle estimation is key feedback for many robotics and mechatronics applications in order to stabilize a system. Tilt angle cannot be directly measured…
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
Current and next-generation particle tracking detectors will incorporate precision timing capabilities with resolutions approaching tens of picoseconds. Using Technology Computer-Aided Design (TCAD) simulations of Low-Gain Avalanche Diode…
3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…
3D Gaussian Splatting (3DGS) has revolutionized real-time rendering with its state-of-the-art novel view synthesis, but its utility for accurate geometric measurement remains underutilized. Compared to multi-view stereo (MVS) point clouds…
Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating…
Extrusion-based 3D printing of cementitious materials enables fabrication of complex structures, however it is highly sensitive to disturbances, material property variations, and process uncertainties that decrease flow stability and…
We present a novel object tracking scheme that can track rigid objects in real time. The approach uses subpixel-precise image edges to track objects with high accuracy. It can determine the object position, scale, and rotation with…