Related papers: A direct time-of-flight image sensor with in-pixel…

Light scattering by tissue severely limits how deep beneath the surface one can image, and the spatial resolution one can obtain from these images. Diffuse optical tomography (DOT) is one of the most powerful techniques for imaging deep…

We present an efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph. This runs in real-time at full framerate using fixed lag…

Light-field imaging facilitates the miniaturization of 3D cameras while it requires the extension of the depth-of-field (DoF) for practical applications such as endoscopy and intraoral scanning. Here we report a light-field camera (LFC)…

A backside-illuminated (BSI) near-infrared enhanced silicon single-photon avalanche diode (SPAD) for time-of-flight (ToF) light detection and ranging applications is presented. The detector contains a 2 $\mu$m wide multiplication region…

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…

Spinning LiDAR data are prevalent for 3D vision tasks. Since LiDAR data is presented in the form of point clouds, expensive 3D operations are usually required. This paper revisits spinning LiDAR scan formation and presents a cylindrical…

Single-photon lidar has emerged as a prime candidate technology for depth imaging through challenging environments. Until now, a major limitation has been the significant amount of time required for the analysis of the recorded data. Here…

Indirect time-of-flight (iToF) imaging allows us to capture dense depth information at a low cost. However, iToF imaging often suffers from multipath interference (MPI) artifacts in the presence of scattering media, resulting in severe…

In this paper, we propose a new deep architecture for fusing camera and LiDAR sensors for 3D object detection. Because the camera and LiDAR sensor signals have different characteristics and distributions, fusing these two modalities is…

Light-in-flight (LiF) measurements enable the visualization of light paths through arbitrary, volumetric scenes, making light-matter interactions at ultrafast timescales visible. Traditionally, LiF measurements require specialized…

We present a real-time approach for image-based localization within large scenes that have been reconstructed offline using structure from motion (Sfm). From monocular video, our method continuously computes a precise 6-DOF camera pose, by…

In turbid media, scattering of light scrambles information of the incident beam and represents an obstacle to optical imaging. Noninvasive imaging through opaque layers is challenging for dynamic and wide-field objects due to unreliable…

This paper presents a novel iToF-RGB fusion framework designed to address the inherent limitations of indirect Time-of-Flight (iToF) depth sensing, such as low spatial resolution, limited field-of-view (FoV), and structural distortion in…

Multi-sensor fusion of multi-modal measurements from commodity inertial, visual and LiDAR sensors to provide robust and accurate 6DOF pose estimation holds great potential in robotics and beyond. In this paper, building upon our prior work…

LiDAR super-resolution addresses the challenge of achieving high-quality 3D perception from cost-effective, low-resolution sensors. While recent transformer-based approaches like TULIP show promise, they remain limited to spatial-domain…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

High-accuracy per-pixel depth is vital for computational photography, so smartphones now have multimodal camera systems with time-of-flight (ToF) depth sensors and multiple color cameras. However, producing accurate high-resolution depth is…

LiDAR (Light Detection And Ranging) is an indispensable sensor for precise long- and wide-range 3D sensing, which directly benefited the recent rapid deployment of autonomous driving (AD). Meanwhile, such a safety-critical application…

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…

We aim to recover the geometry of 3D parametric scenes using very few depth measurements from low-cost, commercially available time-of-flight sensors. These sensors offer very low spatial resolution (i.e., a single pixel), but image a wide…