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White light spectral interferometry is applied to measure the refractive index in absorbing liquids in the spectral range from 400 to 1000 nm. We analyze the influence of absorption on the visibility of interferometric fringes and,…
Automated driving systems use multi-modal sensor suites to ensure the reliable, redundant and robust perception of the operating domain, for example camera and LiDAR. An accurate extrinsic calibration is required to fuse the camera and…
Purpose: Optical imaging is evolving as a key technique for advanced sensing in the operating room. Recent research has shown that machine learning algorithms can be used to address the inverse problem of converting pixel-wise multispectral…
There are a multitude of emerging imaging technologies that could benefit robotics. However the need for bespoke models, calibration and low-level processing represents a key barrier to their adoption. In this work we present NOCaL, Neural…
Camera calibration is a process of paramount importance in computer vision applications that require accurate quantitative measurements. The popular method developed by Zhang relies on the use of a large number of images of a planar grid of…
This paper presents an adaptive and intelligent sparse model for digital image sampling and recovery. In the proposed sampler, we adaptively determine the number of required samples for retrieving image based on space-frequency-gradient…
Distortion is widely existed in the images captured by popular wide-angle cameras and fisheye cameras. Despite the long history of distortion rectification, accurately estimating the distortion parameters from a single distorted image is…
End-to-end optimization, which simultaneously optimizes optics and algorithms, has emerged as a powerful data-driven method for computational imaging system design. This method achieves joint optimization through backpropagation by…
Reliable control of the deposition process of optical films and coatings frequently requires monitoring of the refractive index profile throughout the layer. In the present work a simple in situ approach is proposed which uses a WKBJ matrix…
Polarimetric imaging has been applied in a growing number of applications in robotic vision (ex. underwater navigation, glare removal, de-hazing, object classification, and depth estimation). One can find on the market RGB Polarization…
Recently, 4D millimetre-wave radar exhibits more stable perception ability than LiDAR and camera under adverse conditions (e.g. rain and fog). However, low-quality radar points hinder its application, especially the odometry task that…
Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…
We present a self-supervised deep pose correction (DPC) network that applies pose corrections to a visual odometry estimator to improve its accuracy. Instead of regressing inter-frame pose changes directly, we build on prior work that uses…
In order to advance underwater computer vision and robotics from lab environments and clear water scenarios to the deep dark ocean or murky coastal waters, representative benchmarks and realistic datasets with ground truth information are…
Transformation optics based on conformal mapping (CM) technique provides a practical approach to designing arbitrary-shaped all-dielectric devices. However, CM may result in large impractical refractive indices unachievable by current…
Nonlinear lens distortion rectification is a common first step in image processing applications where the assumption of a linear camera model is essential. For rectifying the lens distortion, forward distortion model needs to be known.…
Camera calibration involves estimating camera parameters to infer geometric features from captured sequences, which is crucial for computer vision and robotics. However, conventional calibration is laborious and requires dedicated…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
Binocular stereo vision is an important branch of machine vision, which imitates the human eye and matches the left and right images captured by the camera based on epipolar constraints. The matched disparity map can be calculated according…