Related papers: An Online Self-calibrating Refractive Camera Model…
Combining multiple LiDARs enables a robot to maximize its perceptual awareness of environments and obtain sufficient measurements, which is promising for simultaneous localization and mapping (SLAM). This paper proposes a system to achieve…
External effects such as shocks and temperature variations affect the calibration of visual-inertial sensor systems and thus they cannot fully rely on factory calibrations. Re-calibrations performed on short user-collected datasets might…
Compact and low-cost devices are needed for autonomous driving to image and measure distances to objects 360-degree around. We have been developing an omnidirectional stereo camera exploiting two hyperbolic mirrors and a single set of a…
We study an algorithmic equivalence technique between non-convex gradient descent and convex mirror descent. We start by looking at a harder problem of regret minimization in online non-convex optimization. We show that under certain…
We address the problem of optical decalibration in mobile stereo camera setups, especially in context of autonomous vehicles. In real world conditions, an optical system is subject to various sources of anticipated and unanticipated…
Motion blur is one of the major challenges remaining for visual odometry methods. In low-light conditions where longer exposure times are necessary, motion blur can appear even for relatively slow camera motions. In this paper we present a…
In this paper, we consider the online proximal mirror descent for solving the time-varying composite optimization problems. For various applications, the algorithm naturally involves the errors in the gradient and proximal operator. We…
Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…
The process of camera calibration involves estimating the intrinsic and extrinsic parameters, which are essential for accurately performing tasks such as 3D reconstruction, object tracking and augmented reality. In this work, we propose a…
Immersion optics enable creation of systems with improved optical concentration and coupling by taking advantage of the fact that the luminance of light is proportional to the square of the refractive index in a lossless optical system.…
Light-absorbing materials are widely used, and their optical properties are an important factor. Snell's law does not hold in materials that partially absorb light. Hence, the optical path in refraction is calculated from Maxwell's law. We…
The article deals with a classical inverse problem: the computation of the refractive index of a medium from ultrasound time-of-flight (TOF) measurements. This problem is very popular in seismics but also for tomographic problems in…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
Some optical measurements require relative timing of intensity variations with accuracy much finer than the camera frame period. One motivating example is dynamic aurora, where different prompt emissions are expected to originate from…
Owing to refraction, absorption, and scattering of light by suspended particles in water, raw underwater images suffer from low contrast, blurred details, and color distortion. These characteristics can significantly interfere with the…
Vision-based motion estimation and 3D reconstruction, which have numerous applications (e.g., autonomous driving, navigation systems for airborne devices and augmented reality) are receiving significant research attention. To increase the…
Light's internal reflectivity near a critical angle is very sensitive to the angle of incidence and the optical properties of the external medium near the interface. Novel applications in biology and medicine of subcritical internal…
Typical template-based object pose pipelines estimate the pose by retrieving the closest matching template and aligning it with the observed image. However, failure to retrieve the correct template often leads to inaccurate pose…
We present CoopNet, an approach that improves the cooperation of co-trained networks by dynamically adapting the apportionment of gradient, to ensure equitable learning progress. It is applied to motion-aware self-supervised prediction of…
Modern robotic platforms need a reliable localization system to operate daily beside humans. Simple pose estimation algorithms based on filtered wheel and inertial odometry often fail in the presence of abrupt kinematic changes and wheel…