Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach

In this paper we present a fast and precise method to estimate the planar motion of a lidar from consecutive range scans. For every scanned point we formulate the range flow constraint equation in terms of the sensor velocity, and minimize a robust function of the resulting geometric constraints to obtain the motion estimate. Conversely to traditional approaches, this method does not search for correspondences but performs dense scan alignment based on the scan gradients, in the fashion of dense 3D visual odometry. The minimization problem is solved in a coarse-to-fine scheme to cope with large displacements, and a smooth filter based on the covariance of the estimate is employed to handle uncertainty in unconstraint scenarios (e.g. corridors). Simulated and real experiments have been performed to compare our approach with two prominent scan matchers and with wheel odometry. Quantitative and qualitative results demonstrate the superior performance of our approach which, along with its very low computational cost (0.9 milliseconds on a single CPU core), makes it suitable for those robotic applications that require planar odometry. For this purpose, we also provide the code so that the robotics community can benefit from it.

Subwavelength Index Engineering for SOI Waveguides

Photonic structures with a sub-wavelength pitch, small enough to suppress diffraction, can behave as equivalent homogenous materials that can be engineered to exhibit a specific refractive index and dispersion. Here we discuss the design of a variety of integrated photonic devices, ranging from grating couplers to multimode interference couplers, for which the use of sub-wavelength structures enables unique characteristics. We will place special emphasis on the design and experimental demonstration of multi-mode interference couplers with an unprecedented bandwidth beyond 200nm at telecom wavelengths.