相关论文: Histogram-less LiDAR through SPAD response lineari…
Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…
We introduce a novel method to perform linear optical random projections without the need for holography. Our method consists of a computationally trivial combination of multiple intensity measurements to mitigate the information loss…
Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…
Objective: Time-domain diffuse optical imaging (DOI) requires accurate forward models for photon propagation in scattering media. However, existing simulators lack comprehensive experimental validation, especially for non-contact…
We aim to recover the geometry of 3D parametric scenes using very few depth measurements from low-cost, commercially available time-of-flight sensors. These sensors offer very low spatial resolution (i.e., a single pixel), but image a wide…
In this paper, we propose a method of targetless and automatic Camera-LiDAR calibration. Our approach is an extension of hand-eye calibration framework to 2D-3D calibration. By using the sensor fusion odometry method, the scaled camera…
The development of single-photon counting detectors and arrays has made tremendous steps in recent years, not the least because of various new applications in, e.g., LIDAR devices. In this work, a 3D imaging device based on real thermal…
Minimally invasive surgery presents challenges such as dynamic tissue motion and a limited field of view. Accurate tissue tracking has the potential to support surgical guidance, improve safety by helping avoid damage to sensitive…
Efficient structural perception is essential for mapping and autonomous navigation on resource-constrained robots. Existing 3D methods are computationally prohibitive, while traditional 2D geometric approaches lack robustness. This paper…
Imaging across both the full transverse spatial and temporal dimensions of a scene with high precision in all three coordinates is key to applications ranging from LIDAR to fluorescence lifetime imaging. However, compromises that sacrifice,…
This paper proposes a novel method to filter out the false alarm of LiDAR system by using the temporal correlation of target reflected photons. Because of the inevitable noise, which is due to background light and dark counts of the…
Indirect time-of-flight (iToF) imaging allows us to capture dense depth information at a low cost. However, iToF imaging often suffers from multipath interference (MPI) artifacts in the presence of scattering media, resulting in severe…
Helium metastable species play a critical role in sustaining radio-frequency (RF) driven micro atmospheric pressure plasma jets through Penning ionization and for the generation of reactive oxygen and nitrogen species (RONS). Their…
Single photon avalanche diodes (SPADs) are starting to play a pivotal role in the development of photon-efficient, long-range LiDAR systems. However, due to non-linearities in their image formation model, a high photon flux (e.g., due to…
This paper presents a loop closure method to correct the long-term drift in LiDAR odometry and mapping (LOAM). Our proposed method computes the 2D histogram of keyframes, a local map patch, and uses the normalized cross-correlation of the…
The acquisition of objects outside the Line-of-Sight of cameras is a very intriguing but also extremely challenging research topic. Recent works showed the feasibility of this idea exploiting transient imaging data produced by custom direct…
Occupancy mapping is a fundamental component of robotic systems to reason about the unknown and known regions of the environment. This article presents an efficient occupancy mapping framework for high-resolution LiDAR sensors, termed…
Accurate moving object segmentation is an essential task for autonomous driving. It can provide effective information for many downstream tasks, such as collision avoidance, path planning, and static map construction. How to effectively…
Asynchronous single-photon LiDAR (SP-LiDAR) is an important imaging modality for high-quality 3D applications and navigation, but the modeling of the timestamp distributions of a SP-LiDAR in the presence of dead time remains a very…
Ultrafast optical imaging has enabled direct observation of femtosecond-nanosecond dynamics, yet three-dimensional (3D) dynamic measurements at high numerical aperture (NA) remain hindered by the intrinsically shallow depth of field (DoF)…