Active Estimation of Distance in a Robotic Vision System that Replicates Human Eye Movement

Many visual cues, both binocular and monocular, provide 3D information. When an agent moves with respect to a scene, an important cue is the different motion of objects located at various distances. While a motion parallax is evident for large translations of the agent, in most head/eye systems a small parallax occurs also during rotations of the cameras. A similar parallax is present also in the human eye. During a relocation of gaze, the shift in the retinal projection of an object depends not only on the amplitude of the movement, but also on the distance of the object with respect to the observer. This study proposes a method for estimating distance on the basis of the parallax that emerges from rotations of a camera. A pan/tilt system specifically designed to reproduce the oculomotor parallax present in the human eye was used to replicate the oculomotor strategy by which humans scan visual scenes. We show that the oculomotor parallax provides accurate estimation of distance during sequences of eye movements. In a system that actively scans a visual scene, challenging tasks such as image segmentation and figure/ground segregation greatly benefit from this cue.National Science Foundation (BIC-0432104, CCF-0130851

Magnifying perfect lens and superlens design by coordinate transformation

The coordinate transformation technique is applied to the design of perfect lenses and superlenses. In particular, anisotropic metamaterials that magnify two-dimensional planar images beyond the diffraction limit are designed by the use of oblate spheroidal coordinates. The oblate spheroidal perfect lens or superlens can naturally be used in reverse for lithography of planar subwavelength patterns.Comment: 8 pages, 8 figures, v2: submitted, v3: accepted by Physical Review

Solid immersion lens applications for nanophotonic devices

Solid immersion lens (SIL) microscopy combines the advantages of conventional microscopy with those of near-field techniques, and is being increasingly adopted across a diverse range of technologies and applications. A comprehensive overview of the state-of-the-art in this rapidly expanding subject is therefore increasingly relevant. Important benefits are enabled by SIL-focusing, including an improved lateral and axial spatial profiling resolution when a SIL is used in laser-scanning microscopy or excitation, and an improved collection efficiency when a SIL is used in a light-collection mode, for example in fluorescence micro-spectroscopy. These advantages arise from the increase in numerical aperture (NA) that is provided by a SIL. Other SIL-enhanced improvements, for example spherical-aberration-free sub-surface imaging, are a fundamental consequence of the aplanatic imaging condition that results from the spherical geometry of the SIL. Beginning with an introduction to the theory of SIL imaging, the unique properties of SILs are exposed to provide advantages in applications involving the interrogation of photonic and electronic nanostructures. Such applications range from the sub-surface examination of the complex three-dimensional microstructures fabricated in silicon integrated circuits, to quantum photoluminescence and transmission measurements in semiconductor quantum dot nanostructures

Ray-optical refraction with confocal lenslet arrays

Two parallel lenslet arrays with focal lengths f1 and f2 that share a common focal plane (that is, which are separated by a distance f1+f2) can refract transmitted light rays according to Snell's law, but with the 'sin's replaced with 'tan's. This is the case for a limited range of input angles and other conditions. Such confocal lenslet arrays can therefore simulate the interface between optical media with different refractive indices, n1 and n2, whereby the ratio η=-f2/f1 plays the role of the refractive-index ratio n2/n1. Suitable choices of focal lengths enable positive and negative refraction. In contrast to Snell's law, which leads to nontrivial geometric imaging by a planar refractive-index interface only for the special case of n1=±n2, the modified refraction law leads to geometric imaging by planar confocal lenslet arrays for any value of η. We illustrate some of the properties of confocal lenslet arrays with images rendered using ray-tracing software

Terahertz epsilon-near-zero graded-index lens

An epsilon-near-zero graded-index converging lens with planar faces is proposed and analyzed. Each perfectly-electric conducting (PEC) waveguide comprising the lens operates slightly above its cut-off frequency and has the same length but different cross-sectional dimensions. This allows controlling individually the propagation constant and the normalized characteristic impedance of each waveguide for the desired phase front at the lens output while Fresnel reflection losses are minimized. A complete theoretical analysis based on the waveguide theory and Fermat’s principle is provided. This is complemented with numerical simulation results of two-dimensional and three-dimensional lenses, made of PEC and aluminum, respectively, and working in the terahertz regime, which show good agreement with the analytical work.Effort sponsored by Spanish Government under contracts Consolider “Engineering Metamaterials” CSD2008-00066 and TEC2011-28664-C02-01. P.R.-U. is sponsored by the Government of Navarra under funding program “Formación de tecnólogos” 055/01/11. M.N.- C. is supported by the Imperial College Junior Research Fellowship. M. B. acknowledges funding by the Spanish Government under the research contract program Ramon y Cajal RYC-2011-08221. N.E. acknowledges the support from the US Office of Naval Research (ONR) Multidisciplinary University Research Initiatives (MURI) grant number N00014-10-1- 0942