arXiv subjects

Felipe Gutierrez-Barragan

Publications and source records attributed to Felipe Gutierrez-Barragan.

6 recordsLinked to original sources

arXiv2025

Hardware-aware Coding Function Design for Compressive Single-Photon 3D Cameras

Single-photon cameras are becoming increasingly popular in time-of-flight 3D imaging because they can time-tag individual photons with extreme resolution. However, their performance is susceptible to hardware limitations, such as system bandwidth, maximum laser power, sensor data rates, and in-sensor memory and compute resources. Compressive histograms were recently introduced as a solution to the challenge of data rates through an online in-sensor compression of photon timestamp data. Although compressive histograms work within limited in-sensor memory and computational resources, they underperform when subjected to real-world illumination hardware constraints. To address this, we present a constrained optimization approach for designing practical coding functions for compressive single-photon 3D imaging. Using gradient descent, we jointly optimize an illumination and coding matrix (i.e., the coding functions) that adheres to hardware constraints. We show through extensive simulations that our coding functions consistently outperform traditional coding designs under both bandwidth and peak power constraints. This advantage is particularly pronounced in systems constrained by peak power. Finally, we show that our approach adapts to arbitrary parameterized impulse responses by evaluating it on a real-world system with a non-ideal impulse response function.

cs.CV↗

arXiv2025

Robust 3D Object Detection using Probabilistic Point Clouds from Single-Photon LiDARs

LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing sparse or erroneous point clouds. These errors, which are rooted in the noisy raw LiDAR measurements, get propagated to downstream perception models, resulting in potentially severe loss of accuracy. This is because conventional 3D processing pipelines do not retain any uncertainty information from the raw measurements when constructing point clouds. We propose Probabilistic Point Clouds (PPC), a novel 3D scene representation where each point is augmented with a probability attribute that encapsulates the measurement uncertainty (or confidence) in the raw data. We further introduce inference approaches that leverage PPC for robust 3D object detection; these methods are versatile and can be used as computationally lightweight drop-in modules in 3D inference pipelines. We demonstrate, via both simulations and real captures, that PPC-based 3D inference methods outperform several baselines using LiDAR as well as camera-LiDAR fusion models, across challenging indoor and outdoor scenarios involving small, distant, and low-albedo objects, as well as strong ambient light. Our project webpage is at https://bhavyagoyal.github.io/ppc .

cs.CV↗

arXiv2025

Single Snapshot Distillation for Phase Coded Mask Design in Phase Retrieval

Phase retrieval (PR) reconstructs phase information from magnitude measurements, known as coded diffraction patterns (CDPs), whose quality depends on the number of snapshots captured using coded phase masks. High-quality phase estimation requires multiple snapshots, which is not desired for efficient PR systems. End-to-end frameworks enable joint optimization of the optical system and the recovery neural network. However, their application is constrained by physical implementation limitations. Additionally, the framework is prone to gradient vanishing issues related to its global optimization process. This paper introduces a Knowledge Distillation (KD) optimization approach to address these limitations. KD transfers knowledge from a larger, lower-constrained network (teacher) to a smaller, more efficient, and implementable network (student). In this method, the teacher, a PR system trained with multiple snapshots, distills its knowledge into a single-snapshot PR system, the student. The loss functions compare the CPMs and the feature space of the recovery network. Simulations demonstrate that this approach improves reconstruction performance compared to a PR system trained without the teacher's guidance.

eess.IV↗

arXiv2025

An approach to Physics Based Single Photon Vision System Design

The design of the camera and optical measurement is a crucial part of optimizing machine vision systems. However, camera designs are usually optimized to produce human-interpretable images. Moreover, camera optimization typically makes the assumption of additive noise, while modern optical imaging systems are mainly affected by photon noise which is not additive. Previous studies have highlighted the fundamental effect of the noise model on the outcome of the design process in the context of coded single-pixel and compressed sensing cameras. In addition to the exact noise model, the nature of the data encountered and the vision task fundamentally affect the optimal hardware design. This means that a camera or compressed sensing code that is optimal for capturing images is almost certainly not optimal for any downstream vision task. In this work, we used a simple end-to-end model on a single-pixel camera to study the effects of the noise model for different vision tasks. We demonstrate the importance of incorporating non-linear noise features in optimizing even the simplest vision systems.

eess.IV↗

arXiv2021

iToF2dToF: A Robust and Flexible Representation for Data-Driven Time-of-Flight Imaging

Indirect Time-of-Flight (iToF) cameras are a promising depth sensing technology. However, they are prone to errors caused by multi-path interference (MPI) and low signal-to-noise ratio (SNR). Traditional methods, after denoising, mitigate MPI by estimating a transient image that encodes depths. Recently, data-driven methods that jointly denoise and mitigate MPI have become state-of-the-art without using the intermediate transient representation. In this paper, we propose to revisit the transient representation. Using data-driven priors, we interpolate/extrapolate iToF frequencies and use them to estimate the transient image. Given direct ToF (dToF) sensors capture transient images, we name our method iToF2dToF. The transient representation is flexible. It can be integrated with different rule-based depth sensing algorithms that are robust to low SNR and can deal with ambiguous scenarios that arise in practice (e.g., specular MPI, optical cross-talk). We demonstrate the benefits of iToF2dToF over previous methods in real depth sensing scenarios.

cs.CV↗

arXiv2017

Accelerating Permutation Testing in Voxel-wise Analysis through Subspace Tracking: A new plugin for SnPM

Permutation testing is a non-parametric method for obtaining the max null distribution used to compute corrected $p$-values that provide strong control of false positives. In neuroimaging, however, the computational burden of running such an algorithm can be significant. We find that by viewing the permutation testing procedure as the construction of a very large permutation testing matrix, $T$, one can exploit structural properties derived from the data and the test statistics to reduce the runtime under certain conditions. In particular, we see that $T$ is low-rank plus a low-variance residual. This makes $T$ a good candidate for low-rank matrix completion, where only a very small number of entries of $T$ ($\sim0.35\%$ of all entries in our experiments) have to be computed to obtain a good estimate. Based on this observation, we present RapidPT, an algorithm that efficiently recovers the max null distribution commonly obtained through regular permutation testing in voxel-wise analysis. We present an extensive validation on a synthetic dataset and four varying sized datasets against two baselines: Statistical NonParametric Mapping (SnPM13) and a standard permutation testing implementation (referred as NaivePT). We find that RapidPT achieves its best runtime performance on medium sized datasets ($50 \leq n \leq 200$), with speedups of 1.5x - 38x (vs. SnPM13) and 20x-1000x (vs. NaivePT). For larger datasets ($n \geq 200$) RapidPT outperforms NaivePT (6x - 200x) on all datasets, and provides large speedups over SnPM13 when more than 10000 permutations (2x - 15x) are needed. The implementation is a standalone toolbox and also integrated within SnPM13, able to leverage multi-core architectures when available.

stat.AP↗