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To provide optimal depth resolution with a coded-aperture Laue diffraction microscope, an accurate position of the coded-aperture and its scanning geometry need to be known. However, finding the geometry by trial and error is a…
Synthetic aperture sonar (SAS) requires precise time-of-flight measurements of the transmitted/received waveform to produce well-focused imagery. It is not uncommon for errors in these measurements to be present resulting in image…
Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…
Visual servoing technology has been well developed and applied in many automated manufacturing tasks, especially in tools' pose alignment. To access a full global view of tools, most applications adopt eye-to-hand configuration or…
This paper introduces a novel approach to the fine alignment of images in a burst captured by a handheld camera. In contrast to traditional techniques that estimate two-dimensional transformations between frame pairs or rely on discrete…
Accurate camera pose estimation is a fundamental requirement for numerous applications, such as autonomous driving, mobile robotics, and augmented reality. In this work, we address the problem of estimating the global 6 DoF camera pose from…
Camera calibration is a crucial step in robotics and computer vision. Accurate camera parameters are necessary to achieve robust applications. Nowadays, camera calibration process consists of adjusting a set of data to a pin-hole model,…
The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics. It proposes a method for…
This paper analytically characterizes optimal sensor placements for target localization and tracking in 2D and 3D. Three types of sensors are considered: bearing-only, range-only, and received-signal-strength. The optimal placement problems…
Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static environment, often suffer from significant localization drift…
Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…
Synthetic aperture sonar (SAS) requires precise positional and environmental information to produce well-focused output during the image reconstruction step. However, errors in these measurements are commonly present resulting in defocused…
Focus control (FC) is crucial for cameras to capture sharp images in challenging real-world scenarios. The autofocus (AF) facilitates the FC by automatically adjusting the focus settings. However, due to the lack of effective AF methods for…
Estimating the 6-DoF pose of a camera from a single image relative to a pre-computed 3D point-set is an important task for many computer vision applications. Perspective-n-Point (PnP) solvers are routinely used for camera pose estimation,…
6-DoF visual localization systems utilize principled approaches rooted in 3D geometry to perform accurate camera pose estimation of images to a map. Current techniques use hierarchical pipelines and learned 2D feature extractors to improve…
Accurate information about the location and orientation of a camera in mobile devices is central to the utilization of location-based services (LBS). Most of such mobile devices rely on GPS data but this data is subject to inaccuracy due to…
The alignment of optical systems is a critical step in their manufacture. Alignment normally requires considerable knowledge and expertise of skilled operators. The automation of such processes has several potential advantages, but requires…
LiDARs plays an important role in self-driving cars and its configuration such as the location placement for each LiDAR can influence object detection performance. This paper aims to investigate an optimal configuration that maximizes the…
With the development of autonomous driving technology, sensor calibration has become a key technology to achieve accurate perception fusion and localization. Accurate calibration of the sensors ensures that each sensor can function properly…
How discriminative position information is for image classification depends on the data. On the one hand, the camera position is arbitrary and objects can appear anywhere in the image, arguing for translation invariance. At the same time,…