Related papers: Online Refractive Camera Model Calibration in Visu…
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…
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…
Optical Projection Tomography (OPT) is a powerful tool for 3D imaging of mesoscopic samples, thus of great importance to image whole organs for the study of various disease models in life sciences. OPT is able to achieve resolution at a few…
We report experimental evidence and correction of defocus in full-field OCT of biological samples due to mismatch of the refractive index of biological tissues and water. Via a metric based on the image quality, we demonstrate that we are…
We propose a novel deep visual odometry (VO) method that considers global information by selecting memory and refining poses. Existing learning-based methods take the VO task as a pure tracking problem via recovering camera poses from image…
Since the differences in viewing range, resolution and relative position, the multi-modality sensing module composed of infrared and visible cameras needs to be registered so as to have more accurate scene perception. In practice, manual…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
Two methods of refractometry in reflected light from optical surface of samples are considered and studied experimentally. Methods are grounded on results of Fresnel theory of concerning light reflectivity at near normal incidence and…
Tunnels and long corridors are challenging environments for mobile robots because a LiDAR point cloud should degenerate in these environments. To tackle point cloud degeneration, this study presents a tightly-coupled LiDAR-IMU-wheel…
Underwater cameras are typically placed behind glass windows to protect them from the water. Spherical glass, a dome port, is well suited for high water pressures at great depth, allows for a large field of view, and avoids refraction if a…
A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that guarantees the computation of a globally optimal solution for…
In optical diffraction tomography (ODT), a sample's 3D refractive-index (RI) is often reconstructed after illuminating it from multiple angles, with the assumption that the sample remains static throughout data collection. When the sample…
Optical aberrations prevent telescopes from reaching their theoretical diffraction limit. Once estimated, these aberrations can be compensated for using deformable mirrors in a closed loop. Focal plane wavefront sensing enables the…
Optical Diffraction Tomography (ODT) is a powerful non-invasive imaging technique widely used in biological and medical applications. While significant progress has been made in transmission configuration, reflection ODT remains challenging…
In this paper, we propose a method for online estimation of the robot's posture. Our method uses von Mises and Bingham distributions as probability distributions of joint angles and 3D orientation, which are used in directional statistics.…
Online extrinsic calibration is crucial for building "power-on-and-go" moving platforms, like robots and AR devices. However, blindly performing online calibration for unobservable parameter may lead to unpredictable results. In the…
Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained…
Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…
Pixel size in cameras and other refractive imaging devices is typically limited by the free-space diffraction. However, a vast majority of semiconductor-based detectors are based on materials with substantially high refractive index. We…
Recovering the absolute metric scale from a monocular camera is a challenging but highly desirable problem for monocular camera-based systems. By using different kinds of cues, various approaches have been proposed for scale estimation,…