7 accepted papers
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 field-of-view per pixel and capture detailed time-of-flight…
Many applications require a robot to accurately track reference end-effector trajectories. Certain trajectories may not be tracked as single, continuous paths due to the robot’s kinematic constraints or obstacles elsewhere in the environment. In this situation, it becomes necessary to divide the tra…
We present a method for reconstructing 3D shape of arbitrary Lambertian objects based on measurements by miniature energy-efficient low-cost single-photon cameras. These cameras operating as time resolved image sensors illuminate the scene with a very fast pulse of diffuse light and record the shape…
We investigate methods for determining if a planar surface contains geometric deviations (e.g., protrusions, objects, divots, or cliffs) using only an instantaneous measurement from a miniature optical time-of-flight sensor. The key to our method is to utilize the entirety of information encoded in
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions; however, in teleoperation, this flexibility may make the use…
We provide methods which recover planar scene geometry by utilizing the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">transient histograms</i> captured by a class of close-range time-of-flight (ToF) distance sensor. A transient histogram is a one d
Single-pixel distance sensors are a low-power, low-cost option for distance ranging, and are often attached to robots for collision detection and avoidance. The relative sensor pose, i.e., its position and orientation relative to the robot, must be known to relate its measurements to 3D scene geomet