With the rapid development of high-speed communication and artificial intelligence technologies, human perception of real-world scenes is no longer limited to the use of small Field of View (FoV) and low-dimensional scene detection devices. Panoramic imaging emerges as the next generation of innovative intelligent instruments for environmental perception and measurement. However, while satisfying the need for large-FoV photographic imaging, panoramic imaging instruments are expected to have high resolution, no blind area, miniaturization, and multidimensional intelligent perception, and can be combined with artificial intelligence methods towards the next generation of intelligent instruments, enabling deeper understanding and more holistic perception of 360° real-world surrounding environments. Fortunately, recent advances in freeform surfaces, thin-plate optics, and metasurfaces provide innovative approaches to address human perception of the environment, offering promising ideas beyond conventional optical imaging. In this review, we begin with introducing the basic principles of panoramic imaging systems, and then describe the architectures, features, and functions of various panoramic imaging systems. Afterwards, we discuss in detail the broad application prospects and great design potential of freeform surfaces, thin-plate optics, and metasurfaces in panoramic imaging. We then provide a detailed analysis on how these techniques can help enhance the performance of panoramic imaging systems. We further offer a detailed analysis of applications of panoramic imaging in scene understanding for autonomous driving and robotics, spanning panoramic semantic image segmentation, panoramic depth estimation, panoramic visual localization, and so on. Finally, we cast a perspective on future potential and research directions for panoramic imaging instruments.

This paper reviews the research and development of micromachined accelerometers with a noise floor lower than 1 µg/√Hz. Firstly, the basic working principle of micromachined accelerometers is introduced. Then, different methods of reducing the noise floor of micromachined accelerometers are analyzed. Different types of micromachined accelerometers with a noise floor below 1 µg/√Hz are discussed. Such sensors can mainly be categorized into: (i) micromachined accelerometers with a low spring constant; (ii) with a large proof mass; (iii) with a high quality factor; (iv) with a low noise interface circuit; (v) with sensing schemes leading to a high scale factor. Finally, the characteristics of various micromachined accelerometers and their trends are discussed and investigated.

The introduction of RGB-Depth (RGB-D) sensors into the visually impaired people (VIP)-assisting area has stirred great interest of many researchers. However, the detection range of RGB-D sensors is limited by narrow depth field angle and sparse depth map in the distance, which hampers broader and longer traversability awareness. This paper proposes an effective approach to expand the detection of traversable area based on a RGB-D sensor, the Intel RealSense R200, which is compatible with both indoor and outdoor environments. The depth image of RealSense is enhanced with IR image large-scale matching and RGB image-guided filtering. Traversable area is obtained with RANdom SAmple Consensus (RANSAC) segmentation and surface normal vector estimation, preliminarily. A seeded growing region algorithm, combining the depth image and RGB image, enlarges the preliminary traversable area greatly. This is critical not only for avoiding close obstacles, but also for allowing superior path planning on navigation. The proposed approach has been tested on a score of indoor and outdoor scenarios. Moreover, the approach has been integrated into an assistance system, which consists of a wearable prototype and an audio interface. Furthermore, the presented approach has been proved to be useful and reliable by a field test with eight visually impaired volunteers.

Cross-axis sensitivity of single-axis optomechanical accelerometers, mainly caused by the asymmetric structural design, is an essential issue primarily for high performance applications, which has not been systematically researched. This paper investigates the generating mechanism and detrimental effects of the cross-axis sensitivity of a high resoluion single-axis optomechanical accelerometer, which is composed of a grating-based cavity and an acceleration sensing chip consisting of four crab-shaped cantilevers and a proof mass. The modified design has been proposed and a prototype setup has been built based on the model of cross-axis sensitivity in optomechanical accelerometers. The characterization of the cross-axis sensitivity of a specific optomechanical accelerometer is quantitatively discussed for both mechanical and optical components by numerical simulation and theoretical analysis in this work. The analysis indicates that the cross-axis sensitivity decreases the contrast ratio of the interference signal and the acceleration sensitivity, as well as giving rise to an additional optical path difference, which would impact the accuracy of the accelerometer. The improved mechanical design is achieved by double side etching on a specific double-substrate-layer silicon-on-insulator (SOI) wafer to move the center of the proof mass to the support plane. The experimental results demonstrate that the modified design with highly symmetrical structure can suppress the cross-axis sensitivity significantly without compromising the sensitivity and resolution. The cross-axis sensitivity defined by the contrast ratio of the output signal drops to 2.19% /0.1g from 28.28%/0.1g under the premise that the acceleration sensitivity of this single-axis optomechanical accelerometer remains 1162.45V/g and the resolution remains 1.325μg.

A subnanometer resolution displacement sensor based on a grating interferometric cavity with intensity compensation and phase modulation is proposed and experimentally demonstrated in this paper. The grating interferometric cavity is composed of a frequency-stabilized laser source, a diffraction grating, and a mirror. To realize a subnanometer resolution, the intensity compensation and phase modulation technique are introduced, which are achieved by an intensity compensation light path, three closed placed photodetectors, a processing circuit and a piezoelectric ceramic transducer, and a lock-in amplifier. The intensity compensation technique can improve the stability of the output intensity signal greatly while the phase modulation technique can increase the signal-to-noise ratio dramatically. The detected signal is intensity modulated and processed by a particular arithmetic circuit. Experimental results indicate that the sensitivity of this displacement sensor is 44.75 mV/nm and the highest resolution can reach 0.017 nm, which is 27 times better than the one without intensity compensation and phase modulation. As a high-performance sensor with immunity to electromagnetic interference, this displacement sensor has potential to be used in nanoscience and technology.

This paper describes a novel electrostatically actuated microgripper with freeform geometries designed by a genetic algorithm. This new semiautomated design methodology is capable of designing near-optimal MEMS devices that are robust to fabrication tolerances. The use of freeform geometries designed by a genetic algorithm significantly improves the performance of the microgripper. An experiment shows that the designed microgripper has a large displacement (91.5 μm) with a low actuation voltage (47.5 V), which agrees well with the theory. The microgripper has a large actuation displacement and can handle micro-objects with a size from 10 to 100 μm. A grasping experiment on human hair with a diameter of 77 μm was performed to prove the functionality of the gripper. The result confirmed the superior performance of the new design methodology enabling freeform geometries. This design method can also be extended to the design of many other MEMS devices.