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The availability of high-speed 3D video sensors has greatly facilitated 3D shape acquisition of dynamic and deformable objects, but high frame rate 3D reconstruction is always degraded by spatial noise and temporal fluctuations. This paper…
Traditional SLAM systems, which rely on bundle adjustment, struggle with highly dynamic scenes commonly found in casual videos. Such videos entangle the motion of dynamic elements, undermining the assumption of static environments required…
This paper studies hybrid beamforming for active sensing applications, such as millimeter-wave or ultrasound imaging. Hybrid beamforming can substantially lower the cost and power consumption of fully digital sensor arrays by reducing the…
In this article, we introduce a novel algorithm for efficient near-field synthetic aperture radar (SAR) imaging for irregular scanning geometries. With the emergence of fifth-generation (5G) millimeter-wave (mmWave) devices, near-field SAR…
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…
Mobile 3D printing on unstructured terrain remains challenging due to the conflict between platform mobility and deposition precision. Existing gantry-based systems achieve high accuracy but lack mobility, while mobile platforms struggle to…
Videos are a popular media form, where online video streaming has recently gathered much popularity. In this work, we propose a novel method of real-time video stabilization - transforming a shaky video to a stabilized video as if it were…
Ultrasonic phased array technology, while versatile, often requires complex computing resources and numerous amplifier components. We present a Manually Reconfigurable Phased Array that physically controls transducer position and phase,…
We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in…
Accurate vehicle positioning requires effective IMU-GPS fusion, yet prior methods-EKF, UKF, ML, GA, and DE-suffer from nonlinearity, instability, or high computational cost. This study introduces a PSO-based adaptive tuning framework for…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Multi-sensor modal fusion has demonstrated strong advantages in 3D object detection tasks. However, existing methods that fuse multi-modal features require transforming features into the bird's eye view space and may lose certain…
Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…
Due to inevitable noises introduced during scanning and quantization, 3D reconstruction via RGB-D sensors suffers from errors both in geometry and texture, leading to artifacts such as camera drifting, mesh distortion, texture ghosting, and…
LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…
Correlation based stereo matching has achieved outstanding performance, which pursues cost volume between two feature maps. Unfortunately, current methods with a fixed model do not work uniformly well across various datasets, greatly…
This paper presents a fast and robust method for fixed pattern noise nonuniformity correction of infrared focal plane arrays. The proposed method requires neither shutter nor elaborate calibrations and therefore enables a real time…
The effect of noise on the Inverse Synthetic Aperture Radar (ISAR) with sparse apertures is a challenging issue for image reconstruction with high resolution at low Signal-to-Noise Ratios (SNRs). It is well-known that the image resolution…
With the advent of new technologies, Augmented Reality (AR) has become an effective tool in remote collaboration. Narrow field-of-view (FoV) and motion blur can offer an unpleasant experience with limited cognition for remote viewers of AR…
Accurate odometry is a critical component in a robotic navigation stack, and subsequent modules such as planning and control often rely on an estimate of the robot's motion. Sensor-based odometry approaches should be robust across sensor…