7 accepted papers
We consider the problem of optimizing neural implicit surfaces for 3D reconstruction using acoustic images collected with drifting sensor poses. The accuracy of current state-of-the-art 3D acoustic modeling algorithms is highly dependent on accurate pose estimation; small errors in sensor pose can l
Robust autonomous navigation in environments with limited visibility remains a critical challenge in robotics. We present a novel approach that leverages Non-Line-of-Sight (NLOS) sensing using single-photon LiDAR to improve visibility and enhance autonomous navigation. Our method enables mobile robo
Event cameras, which feature pixels that independently respond to changes in brightness, are becoming increasingly popular in high-speed applications due to their lower latency, reduced bandwidth requirements, and enhanced dynamic range compared to traditional frame-based cameras. Numerous imaging a…
We present a scalable combined localization infrastructure deployment and task planning algorithm for underwater assembly. Infrastructure is autonomously modified to suit the needs of manipulation tasks based on an uncertainty model on the infrastructure’s positional accuracy. Our uncertainty model…
Amplitude modulated continuous-wave time-of-flight (AMCW-ToF) cameras are finding applications as flash Lidars in autonomous navigation robotics and AR/VR applications. A conventional CW-ToF camera requires illuminating the scene with a temporally varying light source and demodulating a set of quadr…
We introduce a light steering technology that operates at megahertz frequencies, has no moving parts, and costs less than a hundred dollars. Our technology can benefit many projector and imaging systems that critically rely on high-speed, reliable, low-cost, and wavelength-independent light steering…
Single-photon avalanche diodes (SPADs) are growing in popularity for depth sensing tasks. However, SPADs still struggle in the presence of high ambient light due to the effects of pile-up. Conventional techniques leverage fixed or asynchronous gating to minimize pile-up effects, but these gating sch…