Related papers: Sensor trajectory estimation by triangulating lida…
Sensor simulation is a key component for testing the performance of self-driving vehicles and for data augmentation to better train perception systems. Typical approaches rely on artists to create both 3D assets and their animations to…
Last two decades, the problem of robotic mapping has made a lot of progress in the research community. However, since the data provided by the sensor still contains noise, how to obtain an accurate map is still an open problem. In this…
Constructing precise global maps is a key task in robotics and is required for localization, surveying, monitoring, or constructing digital twins. To build accurate maps, data from mobile 3D LiDAR sensors is often used. Mapping requires…
This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…
Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…
This study suggests a novel tracking method that employs three Pixy2 sensors to identify the desired line trajectories instead of traditional perceiving means. Firstly, the kinematic model of the mobile robot is derived from the information…
Recent works recognized lidars as an inherently streaming data source and showed that the end-to-end latency of lidar perception models can be reduced significantly by operating on wedge-shaped point cloud sectors rather then the full point…
We propose a Bayesian approach to the problem of multi-reference alignment -- the recovery of signals from noisy, randomly shifted observations. While existing frequentist methods accurately recover the signal at arbitrarily low…
Aiming at the accurate and effective coaxiality measurement for twist drill with irregular surface, an optical measurement mechanism is proposed in this paper. First, A high-precision rotation instrument based on four core units is…
This paper presents a general solution for computing the multi-object posterior for sets of trajectories from a sequence of multi-object (unlabelled) filtering densities and a multi-object dynamic model. Importantly, the proposed solution…
We describe a generalised method for ellipsoid fitting against a minimum set of data points. The proposed method is numerically stable and applies to a wide range of ellipsoidal shapes, including highly elongated and arbitrarily oriented…
The family of multi-plane phase retrieval sensors, such as the curvature and nonlinear curvature wavefront sensors (WFS), contain tip/tilt information embedded in their signals. We have built a nonlinear curvature WFS to study different…
An experimental scheme is introduced to measure multiple parameters that are encoded in the phase quadrature of a light beam. Using a modal description and a spectrally-resolved homodyne detection, it is shown that all of the information is…
Lidar is a vital sensor for estimating the depth of a scene. Typical spinning lidars emit pulses arranged in several horizontal lines and the monetary cost of the sensor increases with the number of these lines. In this work, we present the…
A key parameter in ice flow modelling is basal slipping at the ice-bed interface as it can have a large effect on the resultant ice thickness. Unfortunately, its contribution to surface observations can be hard to distinguish from that of…
Atmospheric aerosols have a major influence on the earths climate and public health. Hence, studying their properties and recovering them from light scattering measurements is of great importance. State of the art retrieval methods such as…
We propose a strategy for optimizing a sensor trajectory in order to estimate the time dependence of a localized scalar source in turbulent channel flow. The approach leverages the view of the adjoint scalar field as the sensitivity of…
In many compressive sensing problems today, the relationship between the measurements and the unknowns could be nonlinear. Traditional treatment of such nonlinear relationships have been to approximate the nonlinearity via a linear model…
To accurately estimate locations and velocities of surrounding targets (cars) is crucial for advanced driver assistance systems based on radar sensors. In this paper we derive methods for fusing data from multiple radar sensors in order to…
Simulating realistic radar data has the potential to significantly accelerate the development of data-driven approaches to radar processing. However, it is fraught with difficulty due to the notoriously complex image formation process. Here…