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Event cameras are bio-inspired dynamic vision sensors that respond to changes in image intensity with a high temporal resolution, high dynamic range and low latency. These sensor characteristics are ideally suited to enable visual target…
This paper presents a comparative study of three modes for mobile robot localization based on visual SLAM using fiducial markers (i.e., square-shaped artificial landmarks with a black-and-white grid pattern): SLAM, SLAM with a prior map,…
The growing demand for location-based services in areas like virtual reality, robot control, and navigation has intensified the focus on indoor localization. Visible light positioning (VLP), leveraging visible light communications (VLC),…
High-density LED arrays enable high-speed transmission in image-sensor-based visible-light communication (VLC) systems. However, when optical spots become blurred and spatially overlapped due to focal shift, resolution limitations, or…
We propose an Ultra-Fast, Device-Free Visible Light Sensing and Positioning system that captures spatiotemporal variations in single-LED VLC channel responses, using ceiling-mounted photodetectors, to accurately and non-intrusively infer…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
In the fields of Advanced Driver Assistance Systems (ADAS) and Autonomous Driving (AD), sensors that serve as the ``eyes'' for sensing the vehicle's surrounding environment are essential. Traditionally, image sensors and LiDAR have played…
This paper demonstrates a system comprised of infrared beacons and a camera equipped with an optical band-pass filter. Our system can reliably detect and identify individual beacons at 100m distance regardless of lighting conditions. We…
Visible light positioning (VLP) is widely believed to be a cost-effective answer to the growing demanded for robot indoor positioning. Considering that some extreme environments require robot to be equipped with a precise and…
Indoor visible light communications (VLC) require simultaneous illumination and communication. Hence, uniformity in the illumination is a key consideration for user comfort and data transfer in VLC systems. Several run-length limited codes…
Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open…
This work describes the automatic registration of a large network (approximately 40) of fixed, ceiling-mounted environment cameras spread over a large area (approximately 800 squared meters) using a mobile calibration robot equipped with a…
In this paper, we propose a novel visible light communication (VLC) assisted Perspective-fourLine algorithm (V-P4L) for practical indoor localization. The basic idea of V-P4L is to joint VLC and computer vision to achieve high accuracy…
Pick-and-place robots are commonly used in modern industrial manufacturing. For complex devices/parts like camera modules used in smartphones, which contain optical parts, electrical components and interfacing connectors, the placement…
Visible Light Communication (VLC) is a current technology which allows data to be transmitted by modulating information onto a light source. It has many advantages over traditional radio frequency communication and up to 10,000 times larger…
Localization of objects is vital for robot-object interaction. Light Detection and Ranging (LiDAR) application in robotics is an emerging and widely used object localization technique due to its accurate distance measurement, long-range,…
The problem of optimal power allocation among light emitting diode (LED) transmitters in a visible light positioning (VLP) system is considered for the purpose of improving localization performance of visible light communication (VLC)…
This paper presents a novel beacon light coding protocol, which enables fast and accurate identification of the beacons in an image. The protocol is provably robust to a predefined set of detection and decoding errors, and does not require…
This paper shows experimental systems using R/G/B LEDs as both the emitters and narrowband filterless photodetectors to realize multiple-input multiple-output (MIMO) visible light communications. Among 9 tested color-pair links from R/G/B…