相关论文: Primary accelerometer calibration with two-axis au…

In this paper, we present a novel factor graph formulation to estimate the pose and velocity of a quadruped robot on slippery and deformable terrain. The factor graph introduces a preintegrated velocity factor that incorporates velocity…

Range-measuring sensors play a critical role in autonomous driving systems. While LiDAR technology has been dominant, its vulnerability to adverse weather conditions is well-documented. This paper focuses on secondary adverse conditions and…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

We present the design, bench-top setup, and experimental results of a compact heterodyne interferometer that achieves picometer-level displacement sensitivities in air over frequencies above 100 mHz. The optical configuration with spatially…

The exquisite precision of atom interferometers has sparked the interest of a large community for use cases ranging from fundamental physics to geodesy and inertial navigation. However, their practical use for onboard applications is still…

A point source atom interferometer (PSI) is a device where atoms are split and recombined by applying a temporal sequence of Raman pulses during the expansion of a cloud of cold atoms behaving approximately as a point source. Unlike a…

This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…

The growth of 3D imaging across a range of sectors has driven a demand for high performance beam steering techniques. Fields as diverse as autonomous vehicles and medical imaging can benefit from a high speed, adaptable method of beam…

Electromyogram (EMG) pattern recognition can be used to classify hand gestures and movements for human-machine interface and prosthetics applications, but it often faces reliability issues resulting from limb position change. One method to…

Most commercially available Light Detection and Ranging (LiDAR)s measure the distances along a 2D section of the environment by sequentially sampling the free range along directions centered at the sensor's origin. When the sensor moves…

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…

This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D…

The assembly of printed circuit boards (PCBs) is one of the standard processes in chip production, directly contributing to the quality and performance of the chips. In the automated PCB assembly process, machine vision and coordinate…

We demonstrate a z-axis accelerometer which uses waveguided light to sense proof mass displacement. The accelerometer consists of two stacked rings (one fixed and one suspended above it) forming an optical ring resonator. As the upper ring…

This paper proposes a new lightweight Transformer-based lifter that maps short sequences of human 2D joint positions to 3D poses using a single camera. The proposed model takes as input geometric priors including segment lengths and camera…

We present a high-precision temporal-spatial phase-demodulation algorithm for phase-shifting interferometry (PSI) affected by random/systematic phase-stepping errors. Laser interferometers in standard optical-shops suffer from several error…

Light Detection and Ranging (LiDAR) sensors have become a de-facto sensor for many robot state estimation tasks, spurring development of many LiDAR Odometry (LO) methods in recent years. While some smoothing-based LO methods have been…

We introduce the concept of non-uniform metamirrors (full-reflection metasurfaces) providing full control of reflected wave fronts independently from the two sides of the mirror. Metamirror is a single planar array of electrically small…

Due to the difficulty of acquiring large-scale 3D human keypoint annotation, previous methods for 3D human pose estimation (HPE) have often relied on 2D image features and sequential 2D annotations. Furthermore, the training of these…

Estimating camera intrinsic parameters without prior scene knowledge is a fundamental challenge in computer vision. This capability is particularly important for applications such as autonomous driving and vehicle platooning, where…