Huiyun Zhang | Searcharxiv

arXiv2025

A Minimal Solver for Relative Pose Estimation with Unknown Focal Length from Two Affine Correspondences

In this paper, we aim to estimate the relative pose and focal length between two views with known intrinsic parameters except for an unknown focal length from two affine correspondences (ACs). Cameras are commonly used in combination with inertial measurement units (IMUs) in applications such as self-driving cars, smartphones, and unmanned aerial vehicles. The vertical direction of camera views can be obtained by IMU measurements. The relative pose between two cameras is reduced from 5DOF to 3DOF. We propose a new solver to estimate the 3DOF relative pose and focal length. First, we establish constraint equations from two affine correspondences when the vertical direction is known. Then, based on the properties of the equation system with nontrivial solutions, four equations can be derived. These four equations only involve two parameters: the focal length and the relative rotation angle. Finally, the polynomial eigenvalue method is utilized to solve the problem of focal length and relative rotation angle. The proposed solver is evaluated using synthetic and real-world datasets. The results show that our solver performs better than the existing state-of-the-art solvers.

cs.CV↗

arXiv2021

Observation of Negative THz Photoconductivity in Large Area Type-II Dirac Semimetal PtTe2

As a newly emergent type-II Dirac semimetal, Platinum Telluride (PtTe2) stands out from other 2D noble-transition-metal dichalcogenides for the unique structure and novel physical properties, such as high carrier mobility, strong electron-phonon coupling and tunable bandgap, which make the PtTe2 a good candidate for applications in optoelectronics, valleytronics and far infrared detectors. Although the transport properties of PtTe2 have been studied extensively, the dynamics of the nonequilibrium carriers remain nearly uninvestigated. Herein we employ optical pump-terahertz (THz) probe spectroscopy (OPTP) to systematically study the photocarrier dynamics of PtTe2 thin films with varying pump fluence, temperature, and film thickness. Upon photoexcitation the THz photoconductivity (PC) of 5 nm PtTe2 film shows abrupt increase initially, while the THz PC changes into negative value in a subpicosecond time scale, followed by a prolonged recovery process that lasted hundreds of picoseconds (ps). This unusual THz PC response observed in the 5 nm PtTe2 film was found to be absent in a 2 nm PtTe2 film. We assign the unexpected negative THz PC as the small polaron formation due to the strong electron-Eg-mode phonon coupling, which is further substantiated by pump fluence- and temperature-dependent measurements as well as the Raman spectroscopy. Moreover, our investigations give a subpicosecond time scale of sequential carrier cooling and polaron formation. The present study provides deep insights into the underlying dynamics evolution mechanisms of photocarrier in type-II Dirac semimetal upon photoexcitation, which is fundamental importance for designing PtTe2-based optoelectronic devices.

cond-mat.mtrl-sci↗