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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…
Dynamic Occupancy Grid Mapping is a technique used to generate a local map of the environment containing both static and dynamic information. Typically, these maps are primarily generated using lidar measurements. However, with improvements…
In computational imaging, hardware for signal sampling and software for object reconstruction are designed in tandem for improved capability. Examples of such systems include computed tomography (CT), magnetic resonance imaging (MRI), and…
Grid-centric perception is a crucial field for mobile robot perception and navigation. Nonetheless, grid-centric perception is less prevalent than object-centric perception as autonomous vehicles need to accurately perceive highly dynamic,…
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…
Non-contact Tonometry (NCT) is a non-invasive ophthalmologic technique to measure intraocular pressure (IOP) using an air puff for routine glaucoma testing. Although IOP measurement using NCT has been perfected over many years, various…
Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…
Currently, diagnosis of skin diseases is based primarily on visual pattern recognition skills and expertise of the physician observing the lesion. Even though dermatologists are trained to recognize patterns of morphology, it is still a…
Trapped, laser-cooled ions produce intense fluorescence. Detecting this fluorescence enables efficient measurement of quantum state of qubits based on trapped atoms. It is desirable to collect a large fraction of the photons to make the…
Background: Dual-energy (DE) imaging techniques in cone-beam computed tomography (CBCT) have potential clinical applications, including material quantification and improved tissue visualization. However, the performance of DE CBCT is…
Neutron computed tomography (nCT) is a 3D characterization technique used to image the internal morphology or chemical composition of samples in biology and materials sciences. A typical workflow involves placing the sample in the path of a…
The application of ionizing radiation for diagnostic imaging is common around the globe. However, the process of imaging, itself, remains to be a relatively hazardous operation. Therefore, it is preferable to use as low a dose of ionizing…
Optical diffraction tomography (ODT) is an interferometric microscopy technique capable of measuring 3-D refractive index (RI) distribution of transparent samples. Multiple 2-D holograms of a sample illuminated with various angles are…
Optical coherence tomography (OCT) is a non-invasive volumetric imaging modality with high spatial and temporal resolution. For imaging larger tissue structures, OCT probes need to be moved to scan the respective area. For handheld…
Fiber-form optics extends the high-resolution tomographic imaging capabilities of Optical Coherence Tomography (OCT) to the inside of the human body, i.e., endoscopic OCT. However, it still faces challenges due to the trade-off between…
Distribution grids currently lack comprehensive real-time metering. Nevertheless, grid operators require precise knowledge of loads and renewable generation to accomplish any feeder optimization task. At the same time, new grid…
To improve transistor density and electronic performance, next-generation semiconductor devices are adopting three-dimensional architectures and feature sizes down to the few-nm regime, which require atomic-scale metrology to identify and…
The ionosphere has been normally detected by traditional instruments, such as ionosonde, scatter radars, topside sounders onboard satellites and in situ rocket. However, most instruments are expensive and also restricted to either the…
Early detection of cancer is crucial for treatment and overall patient survival. In the upper aerodigestive tract (UADT) the gold standard for identification of malignant tissue is an invasive biopsy. Recently, non-invasive imaging…
The tip-tilt correction system at the Infrared Optical Telescope Array (IOTA) has been upgraded with a new star tracker camera. The camera features a backside-illuminated CCD chip offering doubled overall quantum efficiency and a four times…