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The multi-sensory setups consisting of the laser scanners and cameras are popular as the measurements complement each other and provide necessary robustness for applications. Under dynamic conditions or when in motion, a direct…
Camera calibration is a crucial step in robotics and computer vision. Accurate camera parameters are necessary to achieve robust applications. Nowadays, camera calibration process consists of adjusting a set of data to a pin-hole model,…
Camera calibration is an important prerequisite towards the solution of 3D computer vision problems. Traditional methods rely on static images of a calibration pattern. This raises interesting challenges towards the practical usage of event…
Tracking and localizing objects is a central problem in computer-assisted surgery. Optical coherence tomography (OCT) can be employed as an optical tracking system, due to its high spatial and temporal resolution. Recently, 3D convolutional…
In this short note, we discuss the circumstances that can lead to a failure to observe the design order of discretization error convergence in accuracy verification when solving a time-dependent problem. In particular, we discuss the…
Controlling robotic manipulators via visual feedback requires a known coordinate frame transformation between the robot and the camera. Uncertainties in mechanical systems as well as camera calibration create errors in this coordinate frame…
Time-of-flight (ToF) cameras are becoming increasingly popular for 3D imaging. Their optimal usage has been studied from the several aspects. One of the open research problems is the possibility of a multicamera interference problem when…
Aims: We compare the apparent difference in timing of transiting planets (or eclipsing binaries) that are observed from widely separated locations (parallactic delay). Methods: A simple geometrical argument allow us to show that the…
High fidelity estimation algorithms for robotics require accurate data. However, timestamping of sensor data is a key issue that rarely receives the attention it deserves. Inaccurate timestamping can be compensated for in post-processing…
In this paper, we analyze the effect of time delay dynamics on controller design for Unmanned Aerial Vehicles (UAVs) with vision based navigation. Time delay is an inevitable phenomenon in cyber-physical systems, and has important…
Safety-critical navigation applications require that estimation errors be reliably quantified and bounded. This can be challenging for linear dynamic systems if the process noise or measurement errors have uncertain time correlation. In…
Event-based cameras are increasingly utilized in various applications, owing to their high temporal resolution and low power consumption. However, a fundamental challenge arises when deploying multiple such cameras: they operate on…
State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…
Time-series of images may reveal important information about changes in medical or environmental conditions, depending on context. Visual inspection of images by humans (experts or laymen) may fail in detecting very small differences…
Most pictures shared online are accompanied by temporal metadata (i.e., the day and time they were taken), which makes it possible to associate an image content with real-world events. Maliciously manipulating this metadata can convey a…
As robotic systems execute increasingly difficult task sequences, so does the number of ways in which they can fail. Video Anomaly Detection (VAD) frameworks typically focus on singular, low-level kinematic or action failures, struggling to…
Separate constituents of extended systems measure proper-times on different world-lines. Relating and comparing proper-time measurements along any two such world-lines requires that common simultaneity be possible, which in turn implies…
Small, low-cost, wireless cameras are becoming increasingly commonplace making surreptitious observation of people more difficult to detect. Previous work in detecting hidden cameras has only addressed limited environments in small spaces…
In a large cyber-physical system, a temporal inconsistency of an output value can arise if there is a non-negligible delay between the instant when a sensor value is acquired from the environment and the instant when a setpoint, based on…
Minimally invasive surgery is highly operator dependant with a lengthy procedural time causing fatigue to surgeon and risks to patients such as injury to organs, infection, bleeding, and complications of anesthesia. To mitigate such risks,…