Related papers: Sensor trajectory estimation by triangulating lida…
With the objective of improving the registration of LiDAR point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D…
In this paper, we introduce a frequency-domain approach to extract information on the trajectory of a moving point source. The method hinges on the analysis of multi-frequency near-field data recorded at one and sparse observation points in…
We present a new approach to tracking of radiation sources moving on smooth trajectories which can be approximated with piece-wise linear joins or piece-wise linear parabolas. We employ the use of cheap binary proximity sensors which only…
Good geometrical calibration is essential in the use of high resolution detectors. The individual sensors in the detector have to be calibrated with an accuracy better than the intrinsic resolution, which typically is of the order of 10 um.…
This paper considers the problem of recovering the delays and amplitudes of a weighted superposition of pulses. This problem is motivated by a variety of applications such as ultrasound and radar. We show that for univariate and bivariate…
We propose a multi-frequency algorithm for imaging the trajectory of a moving point source from one and sparse far-field observation directions in the frequency domain. The starting and terminal time points of the moving source are both…
LiDAR point clouds collected from a moving vehicle are functions of its trajectories, because the sensor motion needs to be compensated to avoid distortions. When autonomous vehicles are sending LiDAR point clouds to deep networks for…
We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D…
Multiple lidars are prevalently used on mobile vehicles for rendering a broad view to enhance the performance of localization and perception systems. However, precise calibration of multiple lidars is challenging since the feature…
We present a method of analyzing a set of N time signals f_i(t) that consist of local measurements of the same physical observable taken at N sequential locations Z_i along the length of an experimental device. The result is an algorithm…
Light detection and ranging (Lidar) data can be used to capture the depth and intensity profile of a 3D scene. This modality relies on constructing, for each pixel, a histogram of time delays between emitted light pulses and detected photon…
This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…
We provide methods which recover planar scene geometry by utilizing the transient histograms captured by a class of close-range time-of-flight (ToF) distance sensor. A transient histogram is a one dimensional temporal waveform which encodes…
The changes in phase, time and frequency suffered by signals when retransmitted by a remote and inaccessible transponder and the propagation delays are major constraints to obtain accurate ranging measurements in various related…
In order to show the principle viability of a recently proposed relativistic positioning method based on the use of pulsed signals from sources at infinity, we present an application example reconstructing the world-line of an idealized…
Ultrafast experiments require precise temporal characterization of laser pulses, where pulse reconstruction is typically achieved through iterative retrieval algorithms. In this context, the amplitude swing technique has emerged as a robust…
We consider the problem of few-viewpoint 3D surface reconstruction using raw measurements from a lidar system. Lidar captures 3D scene geometry by emitting pulses of light to a target and recording the speed-of-light time delay of the…
Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…
The traditional compressed sensing approach is naturally offline, in that it amounts to sparsely sampling and reconstructing a given dataset. Recently, an online algorithm for performing compressed sensing on streaming data was proposed:…
An omnidirectional closed-loop gait based on the direct feedback of orientation deviation estimates is presented in this paper. At the core of the gait is an open-loop central pattern generator. The orientation feedback is derived from a 3D…