Related papers: Sensor trajectory estimation by triangulating lida…
We propose methods that use specular, multibounce lidar returns to detect and map specular surfaces that might be invisible to conventional lidar systems that rely on direct, single-scatter returns. We derive expressions that relate the…
We study the problem of simultaneously reconstructing a polygonal room and a trajectory of a device equipped with a (nearly) collocated omnidirectional source and receiver. The device measures arrival times of echoes of pulses emitted by…
For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…
This paper addresses the problem of reconstructing the motion trajectories of the individuals in a large collection of flying objects using two temporally synchronized and geometrically calibrated cameras. The 3D trajectory reconstruction…
This paper presents a novel approach using multiple linear regression to process transient signals from silicon photomultipliers. The method provides excellent noise suppression and pulse detection in scenarios with a high pulse count rate…
In this paper, we propose a method for online estimation of the robot's posture. Our method uses von Mises and Bingham distributions as probability distributions of joint angles and 3D orientation, which are used in directional statistics.…
We numerically study trajectories of spiral-wave-cores in excitable systems modulated proportionally to the integral of the activity on the straight line, several or dozens of equi-spaced measuring points on the straight line, the…
A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…
We present a method for reconstructing 3D shape of arbitrary Lambertian objects based on measurements by miniature, energy-efficient, low-cost single-photon cameras. These cameras, operating as time resolved image sensors, illuminate the…
A lidar odometry method, integrating into the computation the knowledge about the physics of the sensor, is proposed. A model of measurement error enables higher precision in estimation of the point normal covariance. Adjacent laser beams…
Wind speed measurements using heterodyne lidars are limited in spatial resolution because of the current signal processing methods. This limit is equal to c $\tau$ ( c is the speed of light and $\tau$ is the laser pulse duration)…
This paper presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance estimations in feedback control, as an attempt to reduce the…
A kind of analysis of waveform of voltage pulse in small proportional counter is described. The technique is based on deconvolution of recorded pulse with a response function of the counter. It allows one to restore a projection of the…
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…
Atmospheric lidar observations provide a unique capability to directly observe the vertical column of cloud and aerosol scattering properties. Detector and solar background noise, however, hinder the ability of lidar systems to provide…
Sensors provide a vital source of data that link digital systems with the physical world. However, as sensors age, the relationship between what they measure and what they output changes. This is known as sensor drift and poses a…
We demonstrate how measuring orbital period derivatives can lead to more accurate distance estimates and transverse velocities for some nearby binary pulsars. In many cases this method will estimate distances more accurately than is…
Spatial regression of random fields based on potentially biased sensing information is proposed in this paper. One major concern in such applications is that since it is not known a-priori what the accuracy of the collected data from each…
Signal processing applications use sinusoidal modelling for speech synthesis, speech coding, and audio coding. Estimation of the model parameters involves non-linear optimisation methods, which can be very costly for real-time applications.…
Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…