A vehicle position and velocity estimation based on camera and LIDAR data are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device; determining a two-dimensional (2D) position of a proximate object near the autonomous vehicle using the image data received from the image generating device; tracking a three-dimensional (3D) position of the proximate object using the distance data received from the distance measuring device over a plurality of cycles and generating tracking data; determining a 3D position of the proximate object using the 2D position, the distance data received from the distance measuring device, and the tracking data; determining a velocity of the proximate object using the 3D position and the tracking data; and outputting the 3D position and velocity of the proximate object relative to the autonomous vehicle.

System, methods, and other embodiments described herein relate to training a depth model for joint depth completion and prediction. In one arrangement, a method includes generating depth features from sparse depth data according to a sparse auxiliary network (SAN) of a depth model. The method includes generating a first depth map from a monocular image and a second depth map from the monocular image and the depth features using the depth model. The method includes generating a depth loss from the second depth map and the sparse depth data and an image loss from the first depth map and the sparse depth data. The method includes updating the depth model including the SAN using the depth loss and the image loss.

System, methods, and other embodiments described herein relate to training a depth model for joint depth completion and prediction. In one arrangement, a method includes generating depth features from sparse depth data according to a sparse auxiliary network (SAN) of a depth model. The method includes generating a first depth map from a monocular image and a second depth map from the monocular image and the depth features using the depth model. The method includes generating a depth loss from the second depth map and the sparse depth data and an image loss from the first depth map and the sparse depth data. The method includes updating the depth model including the SAN using the depth loss and the image loss.

A signal extraction circuit, a signal extraction method, and a distance measurement method and device. The distance measurement method comprises: performing multiple signal extractions using a circuit in a sensor, so as to obtain multiple extraction results; and determining the distance to a measurement object according to the multiple extraction results. Compared with pixel circuits in the prior art, the signal extraction circuit reduces the number of capacitors by half, thereby significantly increasing effective areas in pixels, and reducing calculation errors resulting from capacitance differences between the various capacitors. Moreover, part of the calculation is completed during the signal extraction, thus reducing the pressure of subsequent data processing, and particularly improving the accuracy and speed of distance measurement during the distance measurement process.

A signal extraction circuit, a signal extraction method, and a distance measurement method and device. The distance measurement method comprises: performing multiple signal extractions using a circuit in a sensor, so as to obtain multiple extraction results; and determining the distance to a measurement object according to the multiple extraction results. Compared with pixel circuits in the prior art, the signal extraction circuit reduces the number of capacitors by half, thereby significantly increasing effective areas in pixels, and reducing calculation errors resulting from capacitance differences between the various capacitors. Moreover, part of the calculation is completed during the signal extraction, thus reducing the pressure of subsequent data processing, and particularly improving the accuracy and speed of distance measurement during the distance measurement process.

A robotic work tool system (200) for defining a working area perimeter (105). The robotic work tool system (200) comprises a robotic work tool (100) and a controller (210). The robotic work tool (100) comprises a position unit (175) and a sensor unit (170). The controller (210) is configured to receive, from the sensor unit (170), edge data indicating whether the robotic work tool (100) is located next to a physical edge (430). The controller (210) is further configured to control the robotic work tool (100) to travel along the physical edge (430) while the edge data indicating that the robotic work tool (100) is located next to the physical edge (430) and to receive, from the position unit (175), position data while the robotic work tool (100) is in motion. The controller (210) is configured to determine, based on the edge data and position data, positions representing the physical edge (430) and to define, based on the determined positions, at least a portion of the working area perimeter (105).

A measurement apparatus, a measurement compensation system, a measurement method and a measurement compensation method are provided. The measurement apparatus includes a jig wafer including: a wafer; a distance measuring sensor disposed on a front surface of the wafer and configured to measure a distance between the jig wafer and an upper electrode on the top of a reaction chamber after the jig wafer is placed on a wafer chuck of the reaction chamber; a horizontal sensor disposed on the front surface of the wafer and configured to measure the horizontal condition of the wafer chuck after the jig wafer is placed on the wafer chuck; and a data transmitting device connected with the distance measuring sensor and the horizontal sensor and configured to transmit the data measured by the distance measuring sensor and the data measured by the horizontal sensor.

A measurement apparatus, a measurement compensation system, a measurement method and a measurement compensation method are provided. The measurement apparatus includes a jig wafer including: a wafer; a distance measuring sensor disposed on a front surface of the wafer and configured to measure a distance between the jig wafer and an upper electrode on the top of a reaction chamber after the jig wafer is placed on a wafer chuck of the reaction chamber; a horizontal sensor disposed on the front surface of the wafer and configured to measure the horizontal condition of the wafer chuck after the jig wafer is placed on the wafer chuck; and a data transmitting device connected with the distance measuring sensor and the horizontal sensor and configured to transmit the data measured by the distance measuring sensor and the data measured by the horizontal sensor.

An electronic apparatus is provided. The electronic apparatus includes: a memory configured to store an image; a sensor part including at least one sensor; a projection part including a projection lens configured to output the image to a projection surface; and a processor configured to acquire distance information from the electronic apparatus to the projection surface through the sensor part, acquire output size information of the image based on the acquired distance information, acquire projection surface information corresponding to a bend of the projection surface through the sensor part, acquire movement information of the projection lens based on the output size information of the image and the projection surface information, and control the projection part to output the image based on the movement information.

An electronic apparatus is provided. The electronic apparatus includes: a memory configured to store an image; a sensor part including at least one sensor; a projection part including a projection lens configured to output the image to a projection surface; and a processor configured to acquire distance information from the electronic apparatus to the projection surface through the sensor part, acquire output size information of the image based on the acquired distance information, acquire projection surface information corresponding to a bend of the projection surface through the sensor part, acquire movement information of the projection lens based on the output size information of the image and the projection surface information, and control the projection part to output the image based on the movement information.