8,800 research outputs found
Terahertz dynamic aperture imaging at stand-off distances using a Compressed Sensing protocol
In this text, results of a 0.35 terahertz (THz) dynamic aperture imaging
approach are presented. The experiments use an optical modulation approach and
a single pixel detector at a stand-off imaging distance of approx 1 meter. The
optical modulation creates dynamic apertures of 5cm diameter with approx 2000
individually controllable elements. An optical modulation approach is used here
for the first time at a large far-field distance, for the investigation of
various test targets in a field-of-view of 8 x 8 cm. The results highlight the
versatility of this modulation technique and show that this imaging paradigm is
applicable even at large far-field distances. It proves the feasibility of this
imaging approach for potential applications like stand-off security imaging or
far field THz microscopy.Comment: 9 pages, 13 figure
Frequency-modulated continuous-wave LiDAR compressive depth-mapping
We present an inexpensive architecture for converting a frequency-modulated
continuous-wave LiDAR system into a compressive-sensing based depth-mapping
camera. Instead of raster scanning to obtain depth-maps, compressive sensing is
used to significantly reduce the number of measurements. Ideally, our approach
requires two difference detectors. % but can operate with only one at the cost
of doubling the number of measurments. Due to the large flux entering the
detectors, the signal amplification from heterodyne detection, and the effects
of background subtraction from compressive sensing, the system can obtain
higher signal-to-noise ratios over detector-array based schemes while scanning
a scene faster than is possible through raster-scanning. %Moreover, we show how
a single total-variation minimization and two fast least-squares minimizations,
instead of a single complex nonlinear minimization, can efficiently recover
high-resolution depth-maps with minimal computational overhead. Moreover, by
efficiently storing only data points from measurements of an
pixel scene, we can easily extract depths by solving only two linear equations
with efficient convex-optimization methods
Information-Driven Adaptive Structured-Light Scanners
Sensor planning and active sensing, long studied in robotics, adapt sensor parameters to maximize a utility function while constraining resource expenditures. Here we consider information gain as the utility function. While these concepts are often used to reason about 3D sensors, these are usually treated as a predefined, black-box, component. In this paper we show how the same principles can be used as part of the 3D sensor. We describe the relevant generative model for structured-light 3D scanning and show how adaptive pattern selection can maximize information gain in an open-loop-feedback manner. We then demonstrate how different choices of relevant variable sets (corresponding to the subproblems of locatization and mapping) lead to different criteria for pattern selection and can be computed in an online fashion. We show results for both subproblems with several pattern dictionary choices and demonstrate their usefulness for pose estimation and depth acquisition.United States. Office of Naval Research (Grant N00014-09-1-1051)United States. Army Research Office (Grant W911NF-11- 1-0391)United States. Office of Naval Research (Grant N00014- 11-1-0688
Event-based Vision: A Survey
Event cameras are bio-inspired sensors that differ from conventional frame
cameras: Instead of capturing images at a fixed rate, they asynchronously
measure per-pixel brightness changes, and output a stream of events that encode
the time, location and sign of the brightness changes. Event cameras offer
attractive properties compared to traditional cameras: high temporal resolution
(in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low
power consumption, and high pixel bandwidth (on the order of kHz) resulting in
reduced motion blur. Hence, event cameras have a large potential for robotics
and computer vision in challenging scenarios for traditional cameras, such as
low-latency, high speed, and high dynamic range. However, novel methods are
required to process the unconventional output of these sensors in order to
unlock their potential. This paper provides a comprehensive overview of the
emerging field of event-based vision, with a focus on the applications and the
algorithms developed to unlock the outstanding properties of event cameras. We
present event cameras from their working principle, the actual sensors that are
available and the tasks that they have been used for, from low-level vision
(feature detection and tracking, optic flow, etc.) to high-level vision
(reconstruction, segmentation, recognition). We also discuss the techniques
developed to process events, including learning-based techniques, as well as
specialized processors for these novel sensors, such as spiking neural
networks. Additionally, we highlight the challenges that remain to be tackled
and the opportunities that lie ahead in the search for a more efficient,
bio-inspired way for machines to perceive and interact with the world
Micro Fourier Transform Profilometry (FTP): 3D shape measurement at 10,000 frames per second
Recent advances in imaging sensors and digital light projection technology
have facilitated a rapid progress in 3D optical sensing, enabling 3D surfaces
of complex-shaped objects to be captured with improved resolution and accuracy.
However, due to the large number of projection patterns required for phase
recovery and disambiguation, the maximum fame rates of current 3D shape
measurement techniques are still limited to the range of hundreds of frames per
second (fps). Here, we demonstrate a new 3D dynamic imaging technique, Micro
Fourier Transform Profilometry (FTP), which can capture 3D surfaces of
transient events at up to 10,000 fps based on our newly developed high-speed
fringe projection system. Compared with existing techniques, FTP has the
prominent advantage of recovering an accurate, unambiguous, and dense 3D point
cloud with only two projected patterns. Furthermore, the phase information is
encoded within a single high-frequency fringe image, thereby allowing
motion-artifact-free reconstruction of transient events with temporal
resolution of 50 microseconds. To show FTP's broad utility, we use it to
reconstruct 3D videos of 4 transient scenes: vibrating cantilevers, rotating
fan blades, bullet fired from a toy gun, and balloon's explosion triggered by a
flying dart, which were previously difficult or even unable to be captured with
conventional approaches.Comment: This manuscript was originally submitted on 30th January 1
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