Abstract: Systems and techniques are provided for processing image data from a time-of-flight sensor. An example method includes receiving a depth map and a two-dimensional image that each correspond to an image frame captured by a time-of-flight (ToF) sensor; identifying a plurality of pixels within the two-dimensional image that correspond to at least one scene element; identifying, based on the plurality of pixels, a plurality of voxels within the depth map that correspond to the at least one scene element; and grouping the plurality of voxels into a super voxel that corresponds to the at least one scene element.

Abstract: Described herein are systems and techniques for evaluating whether components of a sensing device are functioning properly. An example method includes obtaining a first set of measurements corresponding to a pixel from a first image frame captured by a sensor, wherein each respective measurement from the first set of measurements is associated with a different signal phase; converting the first set of measurements using an analog to digital converter (ADC) to yield a first set of digitized measurements; and determining, based on the first set of digitized measurements, a first confidence map value that corresponds to the pixel from the first image frame, wherein the first confidence map value is indicative of at least one defect in the sensor.

Abstract: Heat exchangers (also referred to as exchangers herein) are provided that fit within a bottom sump of a distillation column. These heat exchangers may be at least partially submerged in the bottoms fluid of the distillation column so that the exterior surface of the heat exchanger can contribute to the total area of the heat exchanger. The internal configuration of the exchanger allows for annular coaxial flow of the hot fluid (condensing vapor stream) and eliminates the need for top and bottom channel heads.

Abstract: Systems and techniques are provided for identifying and filtering edge pixels from a 3D point cloud from a time-of-flight sensor. An example method includes receiving a first depth map that is based on an image frame captured by a time-of-flight (ToF) sensor, wherein the first depth map includes a plurality of measurements corresponding to a pixel array of the ToF sensor; generating a second depth map by shifting the plurality of measurements corresponding to the pixel array in at least one direction; comparing the first depth map with the second depth map to determine a measurement difference for each pixel in the pixel array; and identifying one or more edge pixels in the pixel array corresponding to at least one edge region in the image frame, wherein the measurement difference associated with the one or more edge pixels is greater than an edge threshold.

Abstract: Systems and techniques are provided for predicting precision of time-of-flight (TOF) sensor measurements. An example process includes receiving depth data associated with a frame, the depth data being captured by a TOF camera by illuminating a modulated signal of the TOF camera and receiving a reflected signal at the TOF camera, wherein the depth data comprises a plurality of correlation samples based on the reflected signal; receiving, from the TOF camera, grayscale image data corresponding to the frame; determining a modulation amplitude of the modulated signal based on the plurality of correlation samples; determining one or more parameters associated with at least one of the depth data and the grayscale image data; and determining a reliability of the depth data based on the modulation amplitude of the modulated signal, the grayscale image data, and the one or more parameters.

Abstract: Various technologies described herein pertain to mitigating motion misalignment of a time-of-flight sensor system and/or generating transverse velocity estimate data utilizing the time-of-flight sensor system. A stream of frames outputted by a sensor of the time-of-flight sensor system is received. A pair of non-adjacent frames in the stream of frames is identified. Computed optical flow data is calculated based on the pair of non-adjacent frames in the stream of frames. Estimated optical flow data for at least one differing frame can be generated based on the computed optical flow data, and the at least one differing frame can be realigned based on the estimated optical flow data. Moreover, transverse velocity estimate data for an object can be generated based on the computed optical flow data.

Abstract: Various technologies described herein pertain to mitigating motion misalignment of a time-of-flight sensor system and/or generating transverse velocity estimate data utilizing the time-of-flight sensor system. A stream of frames outputted by a sensor of the time-of-flight sensor system is received. A pair of non-adjacent frames in the stream of frames is identified. Computed optical flow data is calculated based on the pair of non-adjacent frames in the stream of frames. Estimated optical flow data for at least one differing frame can be generated based on the computed optical flow data, and the at least one differing frame can be realigned based on the estimated optical flow data. Moreover, transverse velocity estimate data for an object can be generated based on the computed optical flow data.

Abstract: Various technologies described herein pertain to mitigating motion misalignment of a time-of-flight sensor system and/or generating transverse velocity estimate data utilizing the time-of-flight sensor system. A stream of frames outputted by a sensor of the time-of-flight sensor system is received. A pair of non-adjacent frames in the stream of frames is identified. Computed optical flow data is calculated based on the pair of non-adjacent frames in the stream of frames. Estimated optical flow data for at least one differing frame can be generated based on the computed optical flow data, and the at least one differing frame can be realigned based on the estimated optical flow data. Moreover, transverse velocity estimate data for an object can be generated based on the computed optical flow data.

Abstract: Various technologies described herein pertain to mitigating motion misalignment of a time-of-flight sensor system and/or generating transverse velocity estimate data utilizing the time-of-flight sensor system. A stream of frames outputted by a sensor of the time-of-flight sensor system is received. A pair of non-adjacent frames in the stream of frames is identified. Computed optical flow data is calculated based on the pair of non-adjacent frames in the stream of frames. Estimated optical flow data for at least one differing frame can be generated based on the computed optical flow data, and the at least one differing frame can be realigned based on the estimated optical flow data. Moreover, transverse velocity estimate data for an object can be generated based on the computed optical flow data.

Abstract: Aspects of the subject technology relate to systems, methods, and computer-readable media for performing ground segmentation through formation of a single super voxel. Image data tracking a surface as an object moves relative to the surface is accessed. Samples of the image data is grouped into different subsets to form a plurality of subsets of the image data. A normal vector to a corresponding plane defined by each subset of the plurality of subsets of the image data are identified. The samples of the image data are re-grouped into a single subset of the image data based on the corresponding normal vector for each subset of the plurality of subsets of the image data. A surface plane representation of the surface is identified based on the single subset of the image data.

Abstract: The present disclosure is directed to a detection device that avoids using frequencies that can potentially interfere with the operation of other electronic devices. An apparatus consistent with the present disclosure may use electrical signals of different frequencies to generate sensing signals that may be electromagnetic signals in the light spectra, for example, infrared signals may be used. Operational frequencies selected may include at least one frequency that is represented as an irrational number.

Abstract: Aspects of the subject technology relate to systems, methods, and computer-readable media for identifying roll, pitch, and azimuth angles for an object based on surface normal vectors. Image data tracking a surface as an object moves relative to the surface can be accessed. A reference normal vector of the surface can be identified. A dynamic normal vector of the surface associated with the object moving over the surface can be identified from the image data. One or a combination of roll, pitch, and azimuth of the object with respect to the surface can be determined based on the reference normal vector and the dynamic normal vector.

Abstract: Systems and techniques are provided for high dynamic range (HDR) with time-of-flight (TOF) cameras. An example method can include obtaining, from a TOF camera, correlation samples including a first set of correlation samples with a first integration time and a second set of correlation samples with a second integration time; determining that a first correlation sample from the first set of correlation samples is saturated; based on the determining that the first correlation sample is saturated, inferring that a second correlation sample from the first set of correlation samples is also saturated; replacing the first correlation sample and the second correlation sample with one or more scaled versions of one or more correlation samples from the second set of correlation samples; and generating an HDR TOF frame based on the one or more scaled versions of the one or more correlation samples and the second set of correlation samples.

Abstract: A high capacity and high efficiency co-current and cross-flow vapor-liquid contacting apparatus and process is useful in distillation columns and other vapor-liquid contacting processes. The apparatus is characterized by an arrangement of contacting modules and perforated receiving pans in horizontal stages. The modules define a co-current contacting volume and in an exemplary configuration the modules include a liquid distributor and a demister. Liquid dispensed from the modules on a perforated receiving pan are contacted with upflowing vapor through perforations therein.

Abstract: Adaptive phase unwrapping for a time-of-flight camera. A scene is illuminated with modulation light having two or more frequencies that do not have a common integer denominator. The modulation light that is reflected off objects within the scene is received at a sensor array. The received modulation light is then processed and weighted in the complex domain to determine unwrapped phases for each of the two or more frequencies of modulation light.

Abstract: A high capacity and high efficiency vapor-liquid contacting apparatus and process is useful in distillation columns and other vapor-liquid contacting processes. The apparatus is characterized by a half module comprising a downcomer against a shell of a vessel for transporting liquid to a subjacent stage which utilizes a demister to effect vapor-liquid separation at the downcomer outlet.

Abstract: A high capacity and high efficiency vapor-liquid contacting apparatus and process is useful in distillation columns and other vapor-liquid contacting processes. The apparatus is characterized by a half module comprising a downcomer against a shell of a vessel for transporting liquid to a subjacent stage which utilizes a demister to effect vapor-liquid separation at the downcomer outlet.

Abstract: Distillation trays having improved efficiency and capacity are described. The improvement is accomplished with unique downcomer spout arrangements and bubble promoters which provide equal liquid distribution to all areas of the tray. The ratio of the open area of a contacting zone including part of a bubble promoter and associated deck zone over the open area of the downcomer spout zone on the adjacent tray for distributing liquid to the zone is essentially the same across the tray.

Abstract: Aspects of disclosed technology provide solutions for reducing interference between optical sensors and in particular, for eliminating crosstalk interference between proximally positioned Light Detection and Ranging (LiDAR) sensors (e.g., flash LiDAR sensors or full-field LiDAR sensors). A process of the disclosed technology can include steps for determining a center modulation frequency for a first Light Detection and Ranging (LiDAR) sensor, scheduling a first capture sequence for the first LiDAR sensor to occur at a first time, determining a center modulation frequency for a second LiDAR sensor, and scheduling a second capture sequence for the second LiDAR sensor to occur at a second time. Systems and machine-readable media are also provided.

Abstract: A three-dimensional camera having a micro lens (ML) array configured with variable ML height and variable ML shift is described herein. The ML array includes micro lens that are configured to direct backscattered light that is transmitted through an image lens into corresponding pixels. Heights of individual micro lenses within the ML array vary according to image height. For example, the height of micro lenses at the center of the ML array, near the axis of the image lens, may be relatively larger than the height of other micro lenses toward the perimeter of the ML array. Furthermore, the shift of individual micro lenses with respect to corresponding pixels may also vary according to the image height. For example, the shift of micro lenses at the center of the ML array may be relatively smaller than the shift of the other micro lenses toward the perimeter of the ML array.