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Maintaining stable and accurate localization during fast motion or on rough terrain remains highly challenging for mobile robots with onboard resources. Currently, multi-sensor fusion methods based on continuous-time representation offer a…
In this study, we investigate the problem of tracking objects with unknown shapes using three-dimensional (3D) point cloud data. We propose a Gaussian process-based model to jointly estimate object kinematics, including position,…
CO-SLIDAR is a very promising technique for the metrology of near ground $C_n^2$ profiles. It exploits both phase and scintillation measurements obtained with a dedicated wavefront sensor and allows profiling on the full line of sight…
Fourier ptychography captures intensity images with varying source patterns (illumination angles) in order to computationally reconstruct large space-bandwidth-product images. Accurate knowledge of the illumination angles is necessary for…
This paper presents an efficient servomotor-aided calibration method for the triaxial gyroscope. The entire calibration process only requires approximately one minute, and does not require high-precision equipment. This method is based on…
Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…
Background: Large engineering structures, such as space launch towers and suspension bridges, are subjected to extreme forces that cause high-speed 3D deformation and compromise safety. These structures typically operate under extreme…
Dimensionality reduction is a crucial technique in data analysis, as it allows for the efficient visualization and understanding of high-dimensional datasets. The circular coordinate is one of the topological data analysis techniques…
Fringe projection profilometry has been increasingly sought and applied in dynamic three-dimensional (3D) shape measurement. In this work, a robust and high-efficiency 3D measurement based on Gray-code light is proposed. Unlike the…
Flying Triangulation sensors enable a free-hand and motion-robust 3D data acquisition of complex shaped objects. The measurement principle is based on a multi-line light-sectioning approach and uses sophisticated algorithms for real-time…
We describe a self calibrating optical technique that allows to perform absolute measurements of scattering cross sections for the light scattered at extremely small angles. Very good performances are obtained by using a very simple optical…
Off-the-shelf fused filament fabrication 3D printers are widely accessible and convenient, yet they exhibit quality loss at high speeds due to dynamic mis-synchronization between printhead motion and material extrusion systems, notably…
In this paper, we present the Trifo Visual Inertial Odometry (Trifo-VIO), a tightly-coupled filtering-based stereo VIO system using both points and lines. Line features help improve system robustness in challenging scenarios when point…
Scientific optical 3D modeling requires the possibility to implement highly flexible and customizable mathematical models as well as high computing power. However, established ray tracing software for optical design and modeling purposes…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
We present VIGS-SLAM, a visual-inertial 3D Gaussian Splatting SLAM system that achieves robust real-time tracking and high-fidelity reconstruction. Although recent 3DGS-based SLAM methods achieve dense and photorealistic mapping, their…
In a context of 3D mapping, it is very important to get accurate measurements from sensors. In particular, Light Detection And Ranging (LIDAR) measurements are typically treated as a zero-mean Gaussian distribution. We show that this…
The price of instruments and observing time on modern telescopes is quickly increasing with the size of the primary mirror. Therefore, it is worth revisiting the data reduction algorithms to extract every bit of scientific information from…
Accurate rail location is a crucial part in the railway support driving system for safety monitoring. LiDAR can obtain point clouds that carry 3D information for the railway environment, especially in darkness and terrible weather…
Estimating the state of a deformable object is crucial for robotic manipulation, yet accurate tracking is challenging when the object is partially-occluded. To address this problem, we propose an occlusion-robust RGBD sequence tracking…