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An important tool for experimental fluids mechanics research is Particle Image Velocimetry (PIV). Several robust methodologies have been proposed to perform the estimation of velocity field from the images, however, alternative methods are…
It is known that waves generated by ambient noise sources and recorded by passive receivers can be used to image the reflectivities of an unknown medium. However, reconstructing the reflectivity of the medium from partial boundary…
Levitated optomechanical systems are rapidly becoming leading tools for precision sensing of forces and accelerations acting on particles in the femtogram to nanogram mass range. These systems enable a high level of control over the…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…
A novel approach towards depth map super-resolution using multi-view uncalibrated photometric stereo is presented. Practically, an LED light source is attached to a commodity RGB-D sensor and is used to capture objects from multiple…
Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…
Motion capture is a widely-used technology in robotics research thanks to its precise posi tional measurements with real-time performance. This paper presents ViconMAVLink, a cross-platform open-source software tool that provides indoor…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
This paper presents a robust non-linear state estimator for autonomous surface vehicles, where the movement is restricted to the horizontal plane. It is assumed that only the vehicle position and orientation can be measured, being the…
Collision avoidance and platooning applications require vehicle localization at cm-level accuracy and at least 50 Hz rate for full autonomy. The RADAR/LIDAR and camera based methods currently used for vehicle localization do not satisfy…
This paper presents a Visual Inertial Odometry Landmark-based Simultaneous Localisation and Mapping algorithm based on a distributed block coordinate nonlinear Moving Horizon Estimation scheme. The main advantage of the proposed method is…
Our aim is to estimate the perspective-effected geometric distortion of a scene from a video feed. In contrast to all previous work we wish to achieve this using from low-level, spatio-temporally local motion features used in commercial…
In this paper, we propose a multi-target image tracking algorithm based on continuously apative mean-shift (Cam-shift) and unscented Kalman filter. We improved the single-lamp tracking algorithm proposed in our previous work to multi-target…
This paper presents a novel object tracking method based on approximated Locality-constrained Linear Coding (LLC). Rather than using a non-negativity constraint on encoding coefficients to guarantee these elements nonnegative, in this…
Accurate visual localization is crucial for autonomous driving, yet existing methods face a fundamental dilemma: While high-definition (HD) maps provide high-precision localization references, their costly construction and maintenance…
Camera calibration is a necessity in various tasks including 3D reconstruction, hand-eye coordination for a robotic interaction, autonomous driving, etc. In this work we propose a novel method to predict extrinsic (baseline, pitch, and…
Image-based vibration mode identification gained increased attentions in civil and construction communities. A recent video-based motion magnification method was developed to measure and visualize small structure motions. This new approach…
In this paper, we propose a novel non-contact vibration measurement system that is competent in estimating linear and/or rotational motions of machine parts. The technique combines microwave radar, standard camera, and optical strobe to…
The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…
Visual fiducial systems are a key component of many robotics and AR/VR applications for 6-DOF monocular relative pose estimation and target identification. This paper presents LFTag, a visual fiducial system based on topological detection…