Related papers: Self-calibrating Intelligent OCT-SLO System
Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…
This paper presents ORB-SLAM3, the first system able to perform visual, visual-inertial and multi-map SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens models. The first main novelty is a feature-based…
Robo-AO is the first autonomous laser adaptive optics system and science instrument operating on sky. With minimal human oversight, the system robotically executes large scale surveys, monitors long-term astrophysical dynamics and…
In this paper, a complete framework for Autonomous Self Driving is implemented. LIDAR, Camera and IMU sensors are used together. The entire data communication is managed using Robot Operating System which provides a robust platform for…
Automatic detection of visual anomalies and changes in the environment has been a topic of recurrent attention in the fields of machine learning and computer vision over the past decades. A visual anomaly or change detection algorithm…
Self-supervised monocular depth estimation enables robots to learn 3D perception from raw video streams. This scalable approach leverages projective geometry and ego-motion to learn via view synthesis, assuming the world is mostly static.…
Computed tomography (CT) samples with pathological annotations are difficult to obtain. As a result, the computer-aided diagnosis (CAD) algorithms are trained on small datasets (e.g., LIDC-IDRI with 1,018 samples), limiting their accuracies…
Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…
In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…
In contemporary imaging systems, achieving optimal auto-focus (AF) performance hinges on precise lens positioning. Extensive research has delved into refining algorithms for determining the ideal lens position across passive, active, and…
High anisotropy in volumetric medical images can lead to the inconsistent quantification of anatomical and pathological structures. Particularly in optical coherence tomography (OCT), slice spacing can substantially vary across and within…
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…
Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…
Robust 3D occupancy prediction is essential for autonomous driving, particularly under adverse weather conditions where traditional vision-only systems struggle. While the fusion of surround-view 4D radar and cameras offers a promising…
Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…
Spatial scene-understanding, including dense depth and ego-motion estimation, is an important problem in computer vision for autonomous vehicles and advanced driver assistance systems. Thus, it is beneficial to design perception modules…
Adaptive optics (AO) has revolutionized imaging in {fields} from astronomy to microscopy by correcting optical aberrations. In label-free microscopes, however, conventional AO faces limitations due to the absence of guidestar and the need…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
We propose a new signaling scheme for on-chip optical-electrical-optical artificial neural networks that utilizes orthogonal delay-division multiplexing and pilot-tone based self-homodyne detection. This scheme offers a more efficient…