Free-space Detection Research Articles

Gaussian process regression-based robust free space detection for autonomous vehicle by 3-D point cloud and 2-D appearance information fusion

Free space detection is crucial to autonomous vehicles while existing works are not entirely satisfactory. As cameras have many advantages on environment perception, a stereo vision-based robust free space detection method is proposed which mainly depends on geometry information and Gaussian process regression. In this work, in order to improve the performance by exploiting multiple source information, we apply Bayesian framework and conditional random field inference to fuse the multimodal information including 2-D image and 3-D point geometric information. Particularly, a Bayesian framework is used for multiple feature fusion to provide a normalized and flexible output. Gaussian process regression is used to automatically and incrementally regress the data, resulting enhanced performance. Finally, conditional random field with color and geometry constrains is applied to make the result more robust. In order to evaluate the proposed method, quantitative experiments on popular KITTI-road data set and qualitative experiments on our own campus data set are tested. The results show satisfactory and inspiring performance compared to the outstanding works and even are competitive to some relevant Lidar-based methods.

Patterned Plasmonic Surfaces-Theory, Fabrication, and Applications in Biosensing.

Low-profile patterned plasmonic surfaces are synergized with a broad class of silicon microstructures to greatly enhance near-field nanoscale imaging, sensing, and energy harvesting coupled with far-field free-space detection. This concept has a clear impact on several key areas of interest for the MEMS community, including but not limited to ultra-compact microsystems for sensitive detection of small number of target molecules, and "surface" devices for optical data storage, micro-imaging and displaying. In this paper, we review the current state-of-the-art in plasmonic theory as well as derive design guidance for plasmonic integration with microsystems, fabrication techniques, and selected applications in biosensing, including refractive-index based label-free biosensing, plasmonic integrated lab-on-chip systems, plasmonic near-field scanning optical microscopy and plasmonics on-chip systems for cellular imaging. This paradigm enables low-profile conformal surfaces on microdevices, rather than bulk material or coatings, which provide clear advantages for physical, chemical and biological-related sensing, imaging, and light harvesting, in addition to easier realization, enhanced flexibility, and tunability.

Improved evanescent-wave quartz-enhanced photoacoustic CO sensor using an optical fiber taper

An evanescent-wave quartz-enhanced photoacoustic spectroscopy (EW-QEPAS) CO sensor was developed using a tapered fiber integrated with the quartz tuning fork (QTF) and micro-resonator (mR) tubes. The fiber taper was inserted through the two mR tubes with the taper waist located between the QTF prongs. A fiber-coupled continuous-wave distributed feedback (DFB) laser at 2.3μm was connected with the fiber taper fabricated by the flame-brushing method. The fiber taper has negligible influence on the resonant frequency and Q-factor of the QTF, but significantly reduces the background noise compared with the recently developed fiber tip-based EW-QEPAS sensor. In the EW-QEPAS detection with wavelength modulation spectroscopy, we investigated the optimal modulation depth and gas pressure, which are different from that of the conventional free-space QEPAS detection. The current CO sensor achieved a minimum detection limit of ∼20ppm at the 210-s averaging time, corresponding to a normalized noise equivalent absorption (NNEA) coefficient of 1.44×10−8cm−1W/√Hz.

Free-Space Detection with Self-Supervised and Online Trained Fully Convolutional Networks

Recently, vision-based Advanced Driver Assist Systems have gained broad interest. In this work, we investigate free-space detection, for which we propose to employ a Fully Convolutional Network (FCN). We show that this FCN can be trained in a selfsupervised manner and achieve similar results compared to training on manually annotated data, thereby reducing the need for large manually annotated training sets. To this end, our selfsupervised training relies on a stereo-vision disparity system, to automatically generate (weak) training labels for the color-based FCN. Additionally, our self-supervised training facilitates online training of the FCN instead of offline. Consequently, given that the applied FCN is relatively small, the free-space analysis becomes highly adaptive to any traffic scene that the vehicle encounters. We have validated our algorithm using publicly available data and on a new challenging benchmark dataset that is released with this paper. Experiments show that the online training boosts performance with 5% when compared to offline training, both for Fmax and AP.

SERS optical fiber probe with plasmonic end‐facet

SERS optical fiber probe with plasmonic end‐facet

Vortex phase-induced changes of the statistical properties of a partially coherent radially polarized beam.

Partially coherent radially polarized (PCRP) beam was introduced and generated in recent years. In this paper, we investigate the statistical properties of a PCRP beam embedded with a vortex phase (i.e., PCRP vortex beam). We derive the analytical formula for the cross-spectral density matrix of a PCRP vortex beam propagating through a paraxial ABCD optical system and analyze the statistical properties of a PCRP vortex beam focused by a thin lens. It is found that the statistical properties of a PCRP vortex beam on propagation are much different from those of a PCRP beam. The vortex phase induces not only the rotation of the beam spot, but also the changes of the beam shape, the degree of polarization and the state of polarization. We also find that the vortex phase plays a role of resisting the coherence-induced degradation of the intensity distribution and the coherence-induced depolarization. Furthermore, we report experimental generation of a PCRP vortex beam for the first time. Our results will be useful for trapping and rotating particles, free-space optical communications and detection of phase object.

Omnidirectional Free Space Detection using Contour Active with Riemannian Metric

The direct classic processing on the catadioptric images end in errors. The latter are related mainly to the difference in the resolution of the omnidirectional images that is raised up to the periphery and weak in the center of the image. In this paper, we propose a solution, based on a model of parametric active contour in Riemannian metric, which is adapted for the catadioptric images. This model of active contour is designed for the extraction of the free space, which will allow establishing a system of autonomous navigation of a mobile robot in real time. The approach adopted here is compared with methods of classic active contours.

Three-dimensional micro-printing of temperature sensors based on up-conversion luminescence

The pronounced temperature dependence of up-conversion luminescence from nanoparticles doped with rare-earth elements enables local temperature measurements. By mixing these nanoparticles into a commercially available photoresist containing the low-fluorescence photo-initiator Irgacure 369, and by using three-dimensional direct laser writing, we show that micrometer sized local temperature sensors can be positioned lithographically as desired. Positioning is possible in pre-structured environments, e.g., within buried microfluidic channels or on optical or electronic chips. We use the latter as an example and demonstrate the measurement for both free space and waveguide-coupled excitation and detection. For the free space setting, we achieve a temperature standard deviation of 0.5 K at a time resolution of 1 s.

Real-Time Obstacle Detection Approach using Stereoscopic Images

In this paper, we propose a new and simple approach to obstacle and free space detection in an indoor and outdoor environment in real-time using stereo vision as sensor. The real-time obstacle detection algorithm uses two dimensional disparity map to detect obstacles in the scene without constructing the ground plane. The proposed approach combines an accumulating and thresholding techniques to detect and cluster obstacle pixels into objects using a dense disparity map. The results from both analysis modules are combined to provide information of the free space. Experimental results are presented to show the effectiveness of the proposed method in real-time.

Scattering detection using a photonic‐microfluidic integrated device with on‐chip collection capabilities

SU-8-based photonic-microfluidic integrated devices with on-chip beam shaping and collection capabilities were demonstrated in a scattering detection and counting application. Through the proper deployment of the tailored beam geometries via the on-chip excitation optics, excellent CV values were measured for 1, 2, and 5 μm blank beads, 16.4, 11.0, and 12.5%, respectively, coupled with a simple free-space optical detection scheme. The performance of these devices was found dependent on the combination of on-chip, lens-shaped beam geometry and bead size. While very low CVs were obtained when the combination was ideal, a nonideal combination could still result in acceptable CVs for flow cytometry; the reliability was confirmed via devices being able to resolve separate populations of 2.0 and 5.0 μm beads from their mixture with low CV values of 15.9 and 18.5%, respectively. On-chip collection using integrated on-chip optical waveguides was shown to be very reliable in comparison with a free-space collection scheme, yielding a coincident rate of 94.2%. A CV as low as 19.2% was obtained from the on-chip excitation and collection of 5 μm beads when the on-chip lens-shaped beam had a 6.0-μm beam waist.

Sub-pg mass sensing and measurement with an optomechanical oscillator

Mass sensing based on mechanical oscillation frequency shift in micro/nano scale mechanical oscillators is a well-known and widely used technique. Piezo-electric, electronic excitation/detection and free-space optical detection are the most common techniques used for monitoring the minute frequency shifts induced by added mass. The advent of optomechanical oscillator (OMO), enabled by strong interaction between circulating optical power and mechanical deformation in high quality factor optical microresonators, has created new possibilities for excitation and interrogation of micro/nanomechanical resonators. In particular, radiation pressure driven optomechanical oscillators (OMOs) are excellent candidates for mass detection/measurement due to their simplicity, sensitivity and all-optical operation. In an OMO, a high quality factor optical mode simultaneously serves as an efficient actuator and a sensitive probe for precise monitoring of the mechanical eigen-frequencies of the cavity structure. Here, we show the narrow linewidth of optomechanical oscillation combined with harmonic optical modulation generated by nonlinear optical transfer function, can result in sub-pg mass sensitivity in large silica microtoroid OMOs. Moreover by carefully studying the impact of mechanical mode selection, device dimensions, mass position and noise mechanisms we explore the performance limits of OMO both as a mass detector and a high resolution mass measurement system. Our analysis shows that femtogram level resolution is within reach even with relatively large OMOs.

A method for detecting forward scattering signals on-chip with a photonic-microfluidic integrated device.

A photonic integrated microfluidic device is demonstrated to perform optical excitation and forward scatter collection all on-chip in a planar format. Integrated on-chip optics formed a tailored beam geometry for optimal excitation of particles while a special design modification allowed for on-chip forward collection with the beam shaping capabilities. A notch was placed in the lens system that caused a dark spot on the facet of a collection waveguide while not affecting the beam geometry at the point of interrogation. The modified device with the ability to form a 10 μm beam geometry was demonstrated to detect the forward scatter from blank 5 μm diameter polystyrene beads. Free-space collection of side scatter signals was performed simultaneously with the on-chip collection and the designs demonstrated and enhanced SNR while the reliability of detection was determined to be appropriate for many applications. Excellent performance was confirmed via a false positive rate of 0.4%, a missed events rate of 6.8%, and a coincident rate of 96.3% as determined between simultaneously performed free-space and on-chip detection schemes.

Liquid prism for beam tracking and steering

We propose a liquid prism based on electrowetting for wide-angle beam tracking and steering. Two transparent cubic cells which are filled with two immiscible liquids are stacked together to form the device. The two cubic cells function as two optical prisms. Via eletrowetting, we successfully control the liquid–liquid interface by changing the applied voltage on the opposite sidewalls. The device is capable of wide-angle beam tracking and steering. The experiment shows that the device can deflect and steer the light through an angle of ∼19.9 deg (+10.4 deg to −9.5 deg), and the total response time is ∼202 ms. The proposed liquid prism has a potential application such as free-space optical communications and laser detection electrowetting solar cells.

A multi-view time-domain non-contact diffuse optical tomography scanner with dual wavelength detection for intrinsic and fluorescence small animal imaging

We present a non-contact diffuse optical tomography (DOT) scanner with multi-view detection (over 360°) for localizing fluorescent markers in scattering and absorbing media, in particular small animals. It relies on time-domain detection after short pulse laser excitation. Ultrafast time-correlated single photon counting and photomultiplier tubes are used for time-domain measurements. For light collection, seven free-space optics non-contact dual wavelength detection channels comprising 14 detectors overall are placed around the subject, allowing the measurement of time point-spread functions at both excitation and fluorescence wavelengths. The scanner is endowed with a stereo camera pair for measuring the outer shape of the subject in 3D. Surface and DOT measurements are acquired simultaneously with the same laser beam. The hardware and software architecture of the scanner are discussed. Phantoms are used to validate the instrument. Results on the localization of fluorescent point-like inclusions immersed in a scattering and absorbing object are presented. The localization algorithm relies on distance ranging based on the measurement of early photons arrival times at different positions around the subject. This requires exquisite timing accuracy from the scanner. Further exploiting this capability, we show results on the effect of a scattering hetereogenity on the arrival time of early photons. These results demonstrate that our scanner provides all that is necessary for reconstructing images of small animals using full tomographic reconstruction algorithms, which will be the next step. Through its free-space optics design and the short pulse laser used, our scanner shows unprecedented timing resolution compared to other multi-view time-domain scanners.

Directional surface plasmon-coupled emission of CdTe quantum dots and its application in Hg(ii) sensing

We investigated the surface plasmon-coupled emission (SPCE) of CdTe quantum dots (QDs) and developed an SPCE-based quenchometric sensor for Hg(II) ion sensing. CdTe QDs directly synthesized in aqueous solution were attached to a 50 nm-thick Au film through layer-by-layer assembly. The directional emission of the CdTe QDs on the prism side from the surface plasmon coupling was completely p-polarized and observed at a fixed angle of 48.5°, which was consistent with theoretical calculations. An SPCE-based quenchometric sensor for Hg(II) ion sensing was established based on the quenching effect of Hg(II) ions on the fluorescence emission of CdTe QDs. As expected, the SPCE-based sensor enlarged the response range and was more sensitive than that based on free-space detection as a result of the high light-collection efficiency of SPCE. QDs with excellent properties combined with SPCE technology have great potential in detecting analytes at low concentration levels.

Enhanced fog detection and free-space segmentation for car navigation

Free-space detection is a primary task for car navigation. Unfortunately, classical approaches have difficulties in adverse weather conditions, in particular in daytime fog. In this paper, a solution is proposed thanks to a contrast restoration approach on images grabbed by an in-vehicle camera. The proposed method improves the state-of-the-art in several ways. First, the segmentation of the fog region of interest is better segmented thanks to the computation of the shortest routes maps. Second, the fog density as well as the position of the horizon line is jointly computed. Then, the method restores the contrast of the road by only assuming that the road is flat and, at the same time, detects the vertical objects. Finally, a segmentation of the connected component in front of the vehicle gives the free-space area. An experimental validation was carried out to foresee the effectiveness of the method. Different results are shown on sample images extracted from video sequences acquired from an in-vehicle camera. The proposed method is complementary to existing free-space area detection methods relying on color segmentation and stereovision.

Measurement of the internal state of a single atom without energy exchange

A measurement necessarily changes the quantum state being measured, a phenomenon known as back-action. Real measurements, however, almost always cause a much stronger back-action than is required by the laws of quantum mechanics. Quantum non-demolition measurements have been devised that keep the additional back-action entirely within observables other than the one being measured. However, this back-action on other observables often imposes its own constraints. In particular, free-space optical detection methods for single atoms and ions (such as the shelving technique, a sensitive and well-developed method) inevitably require spontaneous scattering, even in the dispersive regime. This causes irreversible energy exchange (heating), which is a limitation in atom-based quantum information processing, where it obviates straightforward reuse of the qubit. No such energy exchange is required by quantum mechanics. Here we experimentally demonstrate optical detection of an atomic qubit with significantly less than one spontaneous scattering event. We measure the transmission and reflection of an optical cavity containing the atom. In addition to the qubit detection itself, we quantitatively measure how much spontaneous scattering has occurred. This allows us to relate the information gained to the amount of spontaneous emission, and we obtain a detection error below 10 per cent while scattering less than 0.2 photons on average. Furthermore, we perform a quantum Zeno-type experiment to quantify the measurement back-action, and find that every incident photon leads to an almost complete state collapse. Together, these results constitute a full experimental characterization of a quantum measurement in the 'energy exchange-free' regime below a single spontaneous emission event. Besides its fundamental interest, this approach could significantly simplify proposed neutral-atom quantum computation schemes, and may enable sensitive detection of molecules and atoms lacking closed transitions.

Free-Space Lossless State Detection of a Single Trapped Atom

We demonstrate the lossless state-selective detection of a single rubidium 87 atom trapped in an optical tweezer. This detection is analogous to the one used on trapped ions. After preparation in either a dark or a bright state, we probe the atom internal state by sending laser light that couples an excited state to the bright state only. The laser-induced fluorescence is collected by a high numerical aperture lens. The single-shot fidelity of the detection is 98.6±0.2% and is presently limited by the dark count noise of the detector. The simplicity of this method opens new perspectives in view of applications to quantum manipulations of neutral atoms.

스테레오비전 기반의 도로의 기울기 추정과 자유주행공간 검출

This paper presents an algorithm capable of detecting free space for the autonomous vehicle navigation. The algorithm consists of two main steps: 1) estimation of longitudinal profile of road, 2) detection of free space. The estimation of longitudinal profile of road is detection of v-line in v-disparity image which is corresponded to road slope, using v-disparity image and hough transform, Dijkstra algorithm. To detect free space, we detect u-line in u-disparity image which is a boundary line between free space and obstacle`s region, using u-disparity image and dynamic programming. Free space is decided by detected v-line and u-line. The proposed algorithm is proven to be successful through experiments under various traffic scenarios.

Plasmonics for Laser Beam Shaping

<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> This paper reviews our recent work on laser beam shaping using plasmonics. We demonstrated that by integrating properly designed plasmonic structures onto the facet of semiconductor lasers, their divergence angle can be dramatically reduced by more than one orders of magnitude, down to a few degrees. A plasmonic collimator consisting of a slit aperture and an adjacent 1-D grating can collimate laser light in the laser polarization direction; a collimator consisting of a rectangular aperture and a concentric ring grating can reduce the beam divergence both perpendicular and parallel to the laser polarization direction, thus achieving collimation in the plane perpendicular to the laser beam. The devices integrated with plasmonic collimators preserve good room-temperature performance with output power comparable to that of the original unpatterned lasers. A collimator design for one wavelength can be scaled to adapt to other wavelengths ranging from the visible to the far-IR regimes. Plasmonic collimation offers a compact and integrated solution to the problem of laser beam collimation and may have a large impact on applications such as free-space optical communication, pointing, and light detection and ranging. This paper opens up major opportunities in wavefront engineering using plasmonic structures. </para>