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Performing homodyne detection at one port of squeezed-state light interferometer and then binarzing measurement data are important to achieve super-resolving and super-sensitive phase measurements. Here we propose a new data-processing…
This paper presents a novel technique to correct for bias in a classical estimator using a learning approach. We apply a learned bias correction to a lidar-only motion estimation pipeline. Our technique trains a Gaussian process (GP)…
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…
Magneto-inductive navigation is an inexpensive and easily deployable solution to many of today's navigation problems. By utilizing very low frequency magnetic fields, magneto-inductive technology circumvents the problems with attenuation…
Improved distance measurements to millisecond pulsars can enhance pulsar timing array (PTA) sensitivity to gravitational-waves, improve tests of general relativity with binary pulsars, improve constraints on fuzzy dark matter, and more.…
This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD…
The measurement of weak temporal phase for picosecond and nanosecond laser pulses is important but quite difficult. We propose a simple iterative algorithm, which is based on a temporally movable phase modulation process, to retrieve the…
Recovering dense and long-range pixel motion in videos is a challenging problem. Part of the difficulty arises from the 3D-to-2D projection process, leading to occlusions and discontinuities in the 2D motion domain. While 2D motion can be…
High energy physics experiments, in particular experiments at the LHC, require the reconstruction of charged particle trajectories. Methods of reconstructing such trajectories have been known for decades, yet the applications at High…
Ultrasound computed tomography techniques have the potential to provide clinicians with 3D, quantitative and high-resolution information of both soft and hard tissues such as the breast or the adult human brain. Their practical application…
In recent years, thanks to the continuously reduced cost and weight of 3D Lidar, the applications of this type of sensor in robotics community have become increasingly popular. Despite many progresses, estimation drift and tracking loss are…
Due to the finite bandwidth of practical wireless systems, one multipath component can manifest itself as a discrete pulse consisting of multiple taps in the digital delay domain. This effect is called channel leakage, which complicates the…
Lidar became an important component of the perception systems in autonomous driving. But challenges of training data acquisition and annotation made emphasized the role of the sensor to sensor domain adaptation. In this work, we address the…
In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…
We present a novel method for combining the analog and photon-counting measurements of lidar transient recorders into reconstructed photon returns. The method takes into account the statistical properties of the two measurement modes and…
We consider the inverse scattering problem for time-harmonic acoustic waves in a medium with pointwise inhomogeneities. In the Foldy-Lax model, the estimation of the scatterers' locations and intensities from far field measurements can be…
LiDAR Odometry is an essential component in many robotic applications. Unlike the mainstreamed approaches that focus on improving the accuracy by the additional inertial sensors, this letter explores the capability of LiDAR-only odometry…
Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse…
We demonstrate a new attosecond pulse reconstruction modality which uses an algorithm that is derived from ptychography. In contrast to other methods, energy and delay sampling are not correlated, and as a result, the number of electron…
Attosecond streaking, as a measurement technique, was originally conceived as a means to characterize attosecond light pulses, which is a good approximation if the relevant transition matrix elements are approximately constant within the…