WiFi localization, the task of determining the physical location of a mobile device from wireless signal strengths, has been shown to be an accurate method of indoor and outdoor localization and a powerful building block for location-aware applications. However, most localization techniques require a training set of signal strength readings labeled against a ground truth location map, which is prohibitive to collect and maintain as maps grow large. In this paper we propose a novel technique for solving the WiFi SLAM problem using the Gaussian Process Latent Variable Model (GPLVM) to determine the latent-space locations of unlabeled signal strength data. We show how GPLVM, in combination with an appropriate motion dynamics model, can be used to reconstruct a topological connectivity graph from a signal strength sequence which, in combination with the learned Gaussian Process signal strength model, can be used to perform efficient localization.

WiFi-SLAM Using G aussian Process Latent Variable Models

The capture of transient scenes at high imaging speed has been long sought by photographers, with early examples being the well known recording in 1878 of a horse in motion and the 1887 photograph of a supersonic bullet. However, not until the late twentieth century were breakthroughs achieved in demonstrating ultrahigh-speed imaging (more than 10^5 frames per second). In particular, the introduction of electronic imaging sensors based on the charge-coupled device (CCD) or complementary metal–oxide–semiconductor (CMOS) technology revolutionized high-speed photography, enabling acquisition rates of up to 10^7 frames per second. Despite these sensors’ widespread impact, further increasing frame rates using CCD or CMOS technology is fundamentally limited by their on-chip storage and electronic readout speed. Here we demonstrate a two-dimensional dynamic imaging technique, compressed ultrafast photography (CUP), which can capture non-repetitive time-evolving events at up to 10^(11) frames per second. Compared with existing ultrafast imaging techniques, CUP has the prominent advantage of measuring an x–y–t (x, y, spatial coordinates; t, time) scene with a single camera snapshot, thereby allowing observation of transient events with temporal resolution as tens of picoseconds. Furthermore, akin to traditional photography, CUP is receive-only, and so does not need the specialized active illumination required by other single-shot ultrafast imagers. As a result, CUP can image a variety of luminescent—such as fluorescent or bioluminescent—objects. Using CUP, we visualize four fundamental physical phenomena with single laser shots only: laser pulse reflection and refraction, photon racing in two media, and faster-than-light propagation of non-information (that is, motion that appears faster than the speed of light but cannot convey information). Given CUP’s capability, we expect it to find widespread applications in both fundamental and applied sciences, including biomedical research.

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Single-shot compressed ultrafast photography at one hundred billion frames per second

How to image objects that are hidden from a camera's view is a problem of fundamental importance to many fields of research, with applications in robotic vision, defence, remote sensing, medical imaging and autonomous vehicles. Non-line-of-sight (NLOS) imaging at macroscopic scales has been demonstrated by scanning a visible surface with a pulsed laser and a time-resolved detector. Whereas light detection and ranging (LIDAR) systems use such measurements to recover the shape of visible objects from direct reflections, NLOS imaging reconstructs the shape and albedo of hidden objects from multiply scattered light. Despite recent advances, NLOS imaging has remained impractical owing to the prohibitive memory and processing requirements of existing reconstruction algorithms, and the extremely weak signal of multiply scattered light. Here we show that a confocal scanning procedure can address these challenges by facilitating the derivation of the light-cone transform to solve the NLOS reconstruction problem. This method requires much smaller computational and memory resources than previous reconstruction methods do and images hidden objects at unprecedented resolution. Confocal scanning also provides a sizeable increase in signal and range when imaging retroreflective objects. We quantify the resolution bounds of NLOS imaging, demonstrate its potential for real-time tracking and derive efficient algorithms that incorporate image priors and a physically accurate noise model. Additionally, we describe successful outdoor experiments of NLOS imaging under indirect sunlight.

Confocal non-line-of-sight imaging based on the light-cone transform.

In this article, I discuss some of the emerging applications and the future opportunities and challenges created by the use of mobile phones and their embedded components for the development of next-generation imaging, sensing, diagnostics and measurement tools. The massive volume of mobile phone users, which has now reached ~7 billion, drives the rapid improvements of the hardware, software and high-end imaging and sensing technologies embedded in our phones, transforming the mobile phone into a cost-effective and yet extremely powerful platform to run, e.g., biomedical tests, and perform scientific measurements that would normally require advanced laboratory instruments. This rapidly evolving and continuing trend will help us transform how medicine, engineering and sciences are practiced and taught globally.

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Mobile phones democratize and cultivate next-generation imaging, diagnostics and measurement tools

Improving access to effective and affordable healthcare has long been a global endeavor. In this quest, the development of cost-effective and easy-to-use medical testing equipment that enables rapid and accurate diagnosis is essential to reduce the time and costs associated with healthcare services. To this end, point-of-care (POC) diagnostics plays a crucial role in healthcare delivery in both developed and developing countries by bringing medical testing to patients, or to sites near patients. As the diagnosis of a wide range of diseases, including various types of cancers and many endemics, relies on optical techniques, numerous compact and cost-effective optical imaging platforms have been developed in recent years for use at the POC. Here, we review the state-of-the-art optical imaging techniques that can have a significant impact on global health by facilitating effective and affordable POC diagnostics.

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Optical imaging techniques for point-of-care diagnostics

We present femto-photography, a novel imaging technique to capture and visualize the propagation of light. With an effective exposure time of 1.85 picoseconds (ps) per frame, we reconstruct movies of ultrafast events at an equivalent resolution of about one half trillion frames per second. Because cameras with this shutter speed do not exist, we re-purpose modern imaging hardware to record an ensemble average of repeatable events that are synchronized to a streak sensor, in which the time of arrival of light from the scene is coded in one of the sensor's spatial dimensions. We introduce reconstruction methods that allow us to visualize the propagation of femtosecond light pulses through macroscopic scenes; at such fast resolution, we must consider the notion of time-unwarping between the camera's and the world's space-time coordinate systems to take into account effects associated with the finite speed of light. We apply our femto-photography technique to visualizations of very different scenes, which allow us to observe the rich dynamics of time-resolved light transport effects, including scattering, specular reflections, diffuse interreflections, diffraction, caustics, and subsurface scattering. Our work has potential applications in artistic, educational, and scientific visualizations; industrial imaging to analyze material properties; and medical imaging to reconstruct subsurface elements. In addition, our time-resolved technique may motivate new forms of computational photography.

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Femto-photography: capturing and visualizing the propagation of light

We present a technique for motion and size estimation of non-line-of-sight (NLOS) moving objects in cluttered environments using a time of flight camera and multipath analysis. We exploit relative times of arrival after reflection from a grid of points on a diffuse surface and create a virtual phased-array. By subtracting space-time impulse responses for successive frames, we separate responses of NLOS moving objects from those resulting from the cluttered environment. After reconstructing the line-of-sight scene geometry, we analyze the space of wavefronts using the phased array and solve a constrained least squares problem to recover the NLOS target location. Importantly, we can recover target's motion vector even in presence of uncalibrated time and pose bias common in time of flight systems. In addition, we compute the upper bound on the size of the target by backprojecting the extremas of the time profiles. Ability to track targets inside rooms despite opaque occluders and multipath responses has numerous applications in search and rescue, medicine and defense. We show centimeter accurate results by making appropriate modifications to a time of flight system.

Estimating Motion and size of moving non-line-of-sight objects in cluttered environments

We introduce an interactive method to assess cataracts in the human eye by crafting an optical solution that measures the perceptual impact of forward scattering on the foveal region. Current solutions rely on highly-trained clinicians to check the back scattering in the crystallin lens and test their predictions on visual acuity tests. Close-range parallax barriers create collimated beams of light to scan through sub-apertures, scattering light as it strikes a cataract. User feedback generates maps for opacity, attenuation, contrast and sub-aperture point-spread functions. The goal is to allow a general audience to operate a portable high-contrast light-field display to gain a meaningful understanding of their own visual conditions. User evaluations and validation with modified camera optics are performed. Compiled data is used to reconstruct the individual's cataract-affected view, offering a novel approach for capturing information for screening, diagnostic, and clinical analysis.

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CATRA: interactive measuring and modeling of cataracts

How will the world look with a one trillion frame per second camera? Although such a camera does not exist today, we converted high end research equipment to produce conventional movies at 0.5 trillion (5· 1011) frames per second, with light moving barely 0.6 mm in each frame. Our camera has the game changing ability to capture objects moving at the speed of light. Inspired by the classic high speed photography art of Harold Edgerton [Kayafas and Edgerton 1987] we use this camera to capture movies of several scenes.

Everett Lawson

Papers

Femto-photography: capturing and visualizing the propagation of light

Femto-photography: capturing and visualizing the propagation of light

Estimating Motion and size of moving non-line-of-sight objects in cluttered environments

CATRA: interactive measuring and modeling of cataracts

Slow art with a trillion frames per second camera