Related papers: Histogram-less LiDAR through SPAD response lineari…

Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…

Indirect Time-of-Flight (iToF) cameras are a widespread type of 3D sensor, which perform multiple captures to obtain depth values of the captured scene. While recent approaches to correct iToF depths achieve high performance when removing…

3D single-photon LiDAR imaging plays an important role in numerous applications. However, long acquisition times and significant data volumes present a challenge to LiDAR imaging. This paper proposes a task-optimized adaptive sampling…

Transient imaging or light-in-flight techniques capture the propagation of an ultra-short pulse of light through a scene, which in effect captures the optical impulse response of the scene. Recently, it has been shown that we can capture…

Space-time adaptive processing (STAP) is an effective tool for detecting a moving target in the airborne radar system. Due to the fast-changing clutter scenario and/or non side-looking configuration, the stationarity of the training data is…

Time of flight cameras may emerge as the 3-D sensor of choice. Today, time of flight sensors use phase-based sampling, where the phase delay between emitted and received, high-frequency signals encodes distance. In this paper, we present a…

Range images captured by Time-of-Flight (ToF) cameras are corrupted with multipath distortions due to interaction between modulated light signals and scenes. The interaction is often complicated, which makes a model-based solution elusive.…

Current 3D object detectors for autonomous driving are almost entirely trained on human-annotated data. Although of high quality, the generation of such data is laborious and costly, restricting them to a few specific locations and object…

Indoor service robots need perception that is robust, more privacy-friendly than RGB video, and feasible on embedded hardware. We present a camera-free 2D LiDAR object detection pipeline that encodes short-term temporal context by stacking…

Time-of-Flight (ToF) cameras possess compact design and high measurement precision to be applied to various robot tasks. However, their limited sensing range restricts deployment in large-scale scenarios. Depth completion has emerged as a…

In this paper, we present INertial Lidar Localisation Autocalibration And MApping (IN2LAAMA): an offline probabilistic framework for localisation, mapping, and extrinsic calibration based on a 3D-lidar and a 6-DoF-IMU. Most of today's…

Single-photon lidar has become a prominent tool for depth imaging in recent years. At the core of the technique, the depth of a target is measured by constructing a histogram of time delays between emitted light pulses and detected photon…

Direct time-of-flight (dToF) sensors are promising for next-generation on-device 3D sensing. However, limited by manufacturing capabilities in a compact module, the dToF data has a low spatial resolution (e.g., $\sim 20\times30$ for iPhone…

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…

Time-of-Flight (ToF) sensors provide efficient active depth sensing at relatively low power budgets; among such designs, only very sparse measurements from low-resolution sensors are considered to meet the increasingly limited power…

Photon counting lidar has become an invaluable tool for 3D depth imaging due to the fine-precision it can achieve over long ranges. However, high frame rate, high resolution lidar devices produce an enormous amount of time-of-flight (ToF)…

Spatially and temporally highly resolved depth information enables numerous applications including human-machine interaction in gaming or safety functions in the automotive industry. In this paper, we address this issue using Time-of-flight…

Many applications require positioning. Time of Flight (ToF) methods calculate distances by measuring the propagation time of signals. We present a novel ToF localization method. Our new approach works infrastructure-less, without…

LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…

In recent years, computational Time-of-Flight (ToF) imaging has emerged as an exciting and a novel imaging modality that offers new and powerful interpretations of natural scenes, with applications extending to 3D, light-in-flight, and…