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The fusion of sensor data from heterogeneous sensors is crucial for robust perception in various robotics applications that involve moving platforms, for instance, autonomous vehicle navigation. In particular, combining camera and lidar…
This paper presents a method for imaging of moving targets using multi-static SAR by treating the problem as one of spatial reflectivity signal inversion over an overcomplete dictionary of target velocities. Since SAR sensor returns can be…
When using images to locate objects, there is the problem of correcting for distortion and misalignment in the images. An elegant way of solving this problem is to generate an error correcting function that maps points in an image to their…
This paper focuses on improving object detection performance by addressing the issue of image distortions, commonly encountered in uncontrolled acquisition environments. High-level computer vision tasks such as object detection,…
Accurately calibrating light field camera is essential to its applications. Rapid progress has been made in this area in the past decades. In this paper, detailed analysis was first performed towards the state of the art projection models…
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…
Retinal surgery is a complex activity that can be challenging for a surgeon to perform effectively and safely. Image guided robot-assisted surgery is one of the promising solutions that bring significant surgical enhancement in treatment…
Self-diagnosis and self-repair are some of the key challenges in deploying robotic platforms for long-term real-world applications. One of the issues that can occur to a robot is miscalibration of its sensors due to aging, environmental…
3D object detection and pose estimation from a single image are two inherently ambiguous problems. Oftentimes, objects appear similar from different viewpoints due to shape symmetries, occlusion and repetitive textures. This ambiguity in…
We introduce a general self-supervised approach to predict the future outputs of a short-range sensor (such as a proximity sensor) given the current outputs of a long-range sensor (such as a camera); we assume that the former is directly…
Existing calibration methods occasionally fail for large field-of-view cameras due to the non-linearity of the underlying problem and the lack of good initial values for all parameters of the used camera model. This might occur because a…
The problem of prediction consists in forecasting the conditional distribution of the next outcome given the past. Assume that the source generating the data is such that there is a stationary ergodic predictor whose error converges to zero…
Sensing and manipulating targets hidden under scattering media are universal problems that take place in applications ranging from deep-tissue optical imaging to laser surgery. A major issue in these applications is the shallow light…
Photometric Stereo methods seek to reconstruct the 3d shape of an object from motionless images obtained with varying illumination. Most existing methods solve a restricted problem where the physical reflectance model, such as Lambertian…
Keypoint detection and matching is a fundamental task in many computer vision problems, from shape reconstruction, to structure from motion, to AR/VR applications and robotics. It is a well-studied problem with remarkable successes such as…
The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera…
Invisibility devices exploit ambiguities in the inverse scattering problem of light in media. Scattering also serves as an important general tool to infer information about the structure of matter. We elucidate the nature of scattering…
Common approach to radial distortion is by the means of polynomial approximation, which introduces distortion-specific parameters into the camera model and requires estimation of these distortion parameters. The task of estimating radial…
This paper presents the exact error analysis of point positioning equation used for airborne three-dimensional(3D) imaging sensor. With differential calculus and principles of precision analysis a mathematics formula on the point position…
3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…