Related papers: An Online Self-calibrating Refractive Camera Model…
Eye-in-hand camera calibration is a fundamental and long-studied problem in robotics. We present a study on using learning-based methods for solving this problem online from a single RGB image, whilst training our models with entirely…
Due to the absorption and scattering effects of the water, underwater images tend to suffer from many severe problems, such as low contrast, grayed out colors and blurring content. To improve the visual quality of underwater images, we…
Although recent learning-based calibration methods can predict extrinsic and intrinsic camera parameters from a single image, the accuracy of these methods is degraded in fisheye images. This degradation is caused by mismatching between the…
Pose estimation and map building are central ingredients of autonomous robots and typically rely on the registration of sensor data. In this paper, we investigate a new metric for registering images that builds upon on the idea of the…
We propose an approach to simulate and render realistic water animation from a single still input photograph. We first segment the water surface, estimate rendering parameters, and compute water reflection textures with a combination of…
This work proposes a novel motion guided method for target-less self-calibration of a LiDAR and camera and use the re-projection of LiDAR points onto the image reference frame for real-time depth upsampling. The calibration parameters are…
The random demodulator is a recent compressive sensing architecture providing efficient sub-Nyquist sampling of sparse band-limited signals. The compressive sensing paradigm requires an accurate model of the analog front-end to enable…
Transparent objects are widely used in our daily lives, making it important to teach robots to interact with them. However, it's not easy because the reflective and refractive effects can make depth cameras fail to give accurate geometry…
We have implemented a multi-functional optofluidic sensor that can monitor changes in the refractive index and pressure of biofluid simultaneously and can detect free-solution molecular interaction in-situ. In this paper, we demonstrate two…
In this paper, we discuss an imitation learning based method for reducing the calibration error for a mixed reality system consisting of a vision sensor and a projector. Unlike a head mounted display, in this setup, augmented information is…
Camera calibration is a crucial step in robotics and computer vision. Accurate camera parameters are necessary to achieve robust applications. Nowadays, camera calibration process consists of adjusting a set of data to a pin-hole model,…
This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization…
Camera calibration for estimating the intrinsic parameters and lens distortion is a prerequisite for various monocular vision applications including feature tracking and video stabilization. This application paper proposes a model for…
Visual-inertial navigation systems are powerful in their ability to accurately estimate localization of mobile systems within complex environments that preclude the use of global navigation satellite systems. However, these navigation…
This paper describes the spherical concave mirror method for measuring the index of refraction of transparent liquids. We derived the refractive index equation using Snell's law and the small-angle approximation. We also verified the…
This work presents a centralized multi-IMU filter framework with online intrinsic and extrinsic calibration for unsynchronized inertial measurement units that is robust against changes in calibration parameters. The novel EKF-based method…
Inverse problems have many applications in science and engineering. In Computer vision, several image restoration tasks such as inpainting, deblurring, and super-resolution can be formally modeled as inverse problems. Recently, methods have…
Image editing and compositing have become ubiquitous in entertainment, from digital art to AR and VR experiences. To produce beautiful composites, the camera needs to be geometrically calibrated, which can be tedious and requires a physical…
We introduce a system and methods for the three-dimensional measurement of extended specular surfaces with high surface normal variations. Our system consists only of a mobile hand held device and exploits screen and front camera for…
Underwater image enhancement plays a crucial role in providing reliable visual information for underwater platforms, since strong absorption and scattering in water-related environments generally lead to image quality degradation. Existing…