Related papers: Optical design and characterization of a multi-dep…
In this paper, we propose a tightly-coupled, multi-modal simultaneous localization and mapping (SLAM) framework, integrating an extensive set of sensors: IMU, cameras, multiple lidars, and Ultra-wideband (UWB) range measurements, hence…
Structured illumination microscopy (SIM) has emerged as a widely adopted super-resolution fluorescence imaging modality, offering high speed, low phototoxicity, large field-of-view, and compatibility with conventional probes. However, when…
This paper presents Direct LiDAR-Inertial Odometry and Mapping (DLIOM), a robust SLAM algorithm with an explicit focus on computational efficiency, operational reliability, and real-world efficacy. DLIOM contains several key algorithmic…
Solutions for scalable, high-performance optical control are important for the development of scaled atom-based quantum technologies. Modulation of many individual optical beams is central to the application of arbitrary gate and control…
We study an optomechhanical device supporting at least three optical modes in the infrared telecommunication band and three mechanical vibration modes. We model the coherent driving of each optical mode, independently of each other, to…
For robust visual-inertial SLAM in perceptually-challenging indoor environments,recent studies exploit line features to extract descriptive information about scene structure to deal with the degeneracy of point features. But existing…
Photometric calibration is essential to many computer vision applications. One of its key benefits is enhancing the performance of Visual SLAM, especially when it depends on a direct method for tracking, such as the standard KLT algorithm.…
In this paper, we introduce IDOL, an optimization-based framework for IMU-DVS Odometry using Lines. Event cameras, also called Dynamic Vision Sensors (DVSs), generate highly asynchronous streams of events triggered upon illumination changes…
The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwater SLAM system that fuses a stereo…
Visual Geometry Foundation Models (VGFMs) demonstrate remarkable zero-shot capabilities in local reconstruction. However, deploying them for kilometer-level Simultaneous Localization and Mapping (SLAM) remains challenging. In such…
This paper presents a novel visual-LiDAR odometry and mapping method with low-drift characteristics. The proposed method is based on two popular approaches, ORB-SLAM and A-LOAM, with monocular scale correction and visual-bootstrapped LiDAR…
To empower mobile robots with usable maps as well as highest state estimation accuracy and robustness, we present OKVIS2-X: a state-of-the-art multi-sensor Simultaneous Localization and Mapping (SLAM) system building dense volumetric…
Real-time simultaneously localization and dense mapping is very helpful for providing Virtual Reality and Augmented Reality for surgeons or even surgical robots. In this paper, we propose MIS-SLAM: a complete real-time large scale dense…
This paper describes the architecture and demonstrates the capabilities of a newly developed, physically-based imaging simulator environment called SISPO, developed for small solar system body fly-by and terrestrial planet surface mission…
People with vision impairments (VIPs) often rely on their remaining vision when interacting with user interfaces. Simulating visual impairments is an effective tool for designers, fostering awareness of the challenges faced by VIPs. While…
Many cytoskeletal systems are now sufficiently well known to permit their precise quantitative modelling. Microtubule and actin filaments are well characterized, and the associated proteins are often known, as well as their abundance and…
Optical neural networks are at the forefront of computational innovation, utilizing photons as the primary carriers of information and employing optical components for computation. However, the fundamental nonlinear optical device in the…
Confocal microscopy, a critical advancement in optical imaging, is widely applied because of its excellent anti-noise ability. However, it has low imaging efficiency and can cause phototoxicity. Optical-sectioning structured illumination…
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…