Related papers: Full-Waveform Modeling for Time-of-Flight Measurem…
Diffuse direct time-of-flight LiDARs report per-pixel depth histograms formed by aggregating photon returns over a wide instantaneous field of view, violating the single-ray assumption behind standard LiDAR-RGB calibration. We present a…
LiDAR sensors can be used to obtain a wide range of measurement signals other than a simple 3D point cloud, and those signals can be leveraged to improve perception tasks like 3D object detection. A single laser pulse can be partially…
Active depth sensors like structured light, lidar, and time-of-flight systems sample the depth of the entire scene uniformly at a fixed scan rate. This leads to limited spatio-temporal resolution where redundant static information is…
We present an inexpensive architecture for converting a frequency-modulated continuous-wave LiDAR system into a compressive-sensing based depth-mapping camera. Instead of raster scanning to obtain depth-maps, compressive sensing is used to…
Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and localization pipelines with depth measurements of the environment. While their accuracy outperforms other…
Indirect Time of Flight LiDARs can indirectly calculate the scene's depth from the phase shift angle between transmitted and received laser signals with amplitudes modulated at a predefined frequency. Unfortunately, this method generates…
This paper proposes a novel method to filter out the false alarm of LiDAR system by using the temporal correlation of target reflected photons. Because of the inevitable noise, which is due to background light and dark counts of the…
Entanglement and correlation of quantum light can enhance LiDAR sensitivity in the presence of strong background noise. However, the power of such quantum sources is fundamentally limited to a stream of single photons and cannot compete…
LiDAR systems that rely on classical signals are susceptible to intercept-and-recent spoofing attacks, where a target attempts to avoid detection. To address this vulnerability, we propose a quantum-secured LiDAR protocol that utilizes…
The R-Mode system, an advanced terrestrial integrated navigation system, is designed to address the vulnerabilities of global navigation satellite systems (GNSS) and explore the potential of a complementary navigation system. This study…
In this paper, a novel amplitude-modulated continuous wave (AMCW) time-of-flight (ToF) scanning sensor based on digital-parallel demodulation is proposed and demonstrated in the aspect of distance measurement precision. Since…
An indirect Pulse-based Time-of-Flight camera can be modelled as a linear sensing system in which the target's depth is recovered from few measurements through a sensing matrix formed by a set of demodulation functions. Each demodulation…
In order to enhance LIDAR performance metrics such as target detection sensitivity, noise resilience and ranging accuracy, we exploit the strong temporal correlation within the photon pairs generated in continuous-wave pumped semiconductor…
The performance of adaptive optics systems employing sodium laser guide stars can be improved by continuously monitoring the vertical density structure of mesospheric sodium along the line of sight. We demonstrate that sodium density…
Depth completion recovers a dense depth map from sensor measurements. Current methods are mostly tailored for very sparse depth measurements from LiDARs in outdoor settings, while for indoor scenes Time-of-Flight (ToF) or structured light…
Integrated sensing and communications is a key enabler for the 6G wireless communication systems. The multiple sensing modalities will allow the base station to have a more accurate representation of the environment, leading to…
The midsize single-phase liquid argon prototype detector, operating at the surface laboratory, is designed to measure scintillation light emitted by the liquid argon (LAr). The detector employs 42 8-inch photomultiplier tubes (PMT) to…
Lidar sensors are often used in mobile robots and autonomous vehicles to complement camera, radar and ultrasonic sensors for environment perception. Typically, perception algorithms are trained to only detect moving and static objects as…
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…
This paper presents a lidar-only state estimation and tracking framework, along with a roadside sensing unit for integration with existing urban infrastructure. Urban deployments demand scalable, real-time tracking solutions, yet…