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With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make…
A simple analytic method of estimating the error involved in using an approximate boundary condition for diffuse radiation in two adjoining scattering media with differing refractive index is presented. The method is based on asymptotic…
We introduce a novel method to automatically adjust camera exposure for image processing and computer vision applications on mobile robot platforms. Because most image processing algorithms rely heavily on low-level image features that are…
Calibrating the optical properties within the detection medium of a neutrino telescope is crucial for determining its angular resolution and energy scale. For the next generation of neutrino telescopes planned to be constructed in deep…
Odometry in adverse weather conditions, such as fog, rain, and snow, presents significant challenges, as traditional vision and LiDAR-based methods often suffer from degraded performance. Radar-Inertial Odometry (RIO) has emerged as a…
Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…
This report models the refractive index above a telescope site by an atmosphere with exponential decay of the refractive index (susceptibility) as a function of altitude. The air is represented as a spherical hull around the surface. We…
This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D…
We explore the oscillatory behavior observed in inversion methods applied to large-scale text-to-image diffusion models, with a focus on the "Flux" model. By employing a fixed-point-inspired iterative approach to invert real-world images,…
We propose a reinforcement learning approach for real-time exposure control of a mobile camera that is personalizable. Our approach is based on Markov Decision Process (MDP). In the camera viewfinder or live preview mode, given the current…
Sensor fusion is essential for autonomous driving and autonomous robots, and radar-camera fusion systems have gained popularity due to their complementary sensing capabilities. However, accurate calibration between these two sensors is…
6-Degree of Freedom (6DoF) motion estimation with a combination of visual and inertial sensors is a growing area with numerous real-world applications. However, precise calibration of the time offset between these two sensor types is a…
Video sequence capturing through refractive dynamic media, such as a turbulent air or water surface, often suffer from severe geometric distortions and temporal instability. While recent advances address mild atmospheric turbulence, no…
We propose a device with a positive isotropic refractive index that creates an approximate magnified perfect real image of an optically homogeneous three-dimensional region of space within geometrical optics. Its key ingredient is a new…
In multimodal perception systems, achieving precise extrinsic calibration between LiDAR and camera is of critical importance. Previous calibration methods often required specific targets or manual adjustments, making them both…
This work presents a flexible system to reconstruct 3D models of objects captured with an RGB-D sensor. A major advantage of the method is that our reconstruction pipeline allows the user to acquire a full 3D model of the object. This is…
Accurate camera calibration is a fundamental task for 3D perception, especially when dealing with real-world, in-the-wild environments where complex optical distortions are common. Existing methods often rely on pre-rectified images or…
Visual-inertial odometry (VIO) has demonstrated remarkable success due to its low-cost and complementary sensors. However, existing VIO methods lack the generalization ability to adjust to different environments and sensor attributes. In…
Image retargeting, which resizes images to one with a prescribed aspect ratio by determining an optimal warping map, has gained substantial interest in imaging science. Despite significant advances, existing methods often fail to ensure…
Reversible video watermarking can guarantee that the watermark logo and the original frame can be recovered from the watermarked frame without any distortion. Although reversible video watermarking has successfully been applied in…