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 $2m$ data points from $m<n$ measurements of an $n$ pixel scene, we can easily extract depths by solving only two linear equations with efficient convex-optimization methods

Improved simulation of non-Gaussian temperature and polarization CMB maps

We describe an algorithm to generate temperature and polarization maps of the cosmic microwave background radiation containing non-Gaussianity of arbitrary local type. We apply an optimized quadrature scheme that allows us to predict and control integration accuracy, speed up the calculations, and reduce memory consumption by an order of magnitude. We generate 1000 non-Gaussian CMB temperature and polarization maps up to a multipole moment of l_max = 1024. We validate the method and code using the power spectrum and the fast cubic (bispectrum) estimator and find consistent results. The simulations are provided to the community.Comment: 18 pages, 19 figures. Accepted for publication in ApJS. Simulations can be obtained at http://planck.mpa-garching.mpg.de/cmb/fnl-simulation

Interferometric imaging with the 32 element Murchison Wide-field Array

The Murchison Wide-field Array (MWA) is a low frequency radio telescope, currently under construction, intended to search for the spectral signature of the epoch of re-ionisation (EOR) and to probe the structure of the solar corona. Sited in Western Australia, the full MWA will comprise 8192 dipoles grouped into 512 tiles, and be capable of imaging the sky south of 40 degree declination, from 80 MHz to 300 MHz with an instantaneous field of view that is tens of degrees wide and a resolution of a few arcminutes. A 32-station prototype of the MWA has been recently commissioned and a set of observations taken that exercise the whole acquisition and processing pipeline. We present Stokes I, Q, and U images from two ~4 hour integrations of a field 20 degrees wide centered on Pictoris A. These images demonstrate the capacity and stability of a real-time calibration and imaging technique employing the weighted addition of warped snapshots to counter extreme wide field imaging distortions.Comment: Accepted for publication in PASP. This is the draft before journal typesetting corrections and proofs so does contain formatting and journal style errors, also has with lower quality figures for space requirement

Keyframe-based monocular SLAM: design, survey, and future directions

Extensive research in the field of monocular SLAM for the past fifteen years has yielded workable systems that found their way into various applications in robotics and augmented reality. Although filter-based monocular SLAM systems were common at some time, the more efficient keyframe-based solutions are becoming the de facto methodology for building a monocular SLAM system. The objective of this paper is threefold: first, the paper serves as a guideline for people seeking to design their own monocular SLAM according to specific environmental constraints. Second, it presents a survey that covers the various keyframe-based monocular SLAM systems in the literature, detailing the components of their implementation, and critically assessing the specific strategies made in each proposed solution. Third, the paper provides insight into the direction of future research in this field, to address the major limitations still facing monocular SLAM; namely, in the issues of illumination changes, initialization, highly dynamic motion, poorly textured scenes, repetitive textures, map maintenance, and failure recovery