Depth from focus (DFF) is a well-established method for measuring depth in vision systems. However, its efficacy and accuracy are limited by the slow speed required to capture high-quality focal stacks. We address this limitation by leveraging emerging hardware technologies: the event camera and liquid lens. In this paper, we introduce an innovative approach called Event-Based Depth from Focus (EDFF). We present a prototype system and propose Event Cancellation Score (ECS) as a novel metric to efficiently detect event data focus. To validate the effectiveness of our system, we have curated the first EDFF dataset, which comprises event recordings of focal sweeps performed on 3D-printed test targets. Comparative analysis against existing event focus detection algorithms demonstrates the superior performance of our algorithm in the EDFF task.

Over the past decade, various methods for detecting side-channel leakage have been proposed and proven to be effective against CPU side-channel attacks. These methods are valuable in assisting developers to identify and patch side-channel vulnerabilities. Nevertheless, recent research has revealed the feasibility of exploiting side-channel vulnerabilities to steal sensitive information from GPU applications, which are beyond the reach of previous side-channel detection methods. Therefore, in this paper, we conduct an in-depth examination of various GPU features and present Owl, a novel side-channel detection tool targeting CUDA applications on NVIDIA GPUs. Owl is designed to detect and locate side-channel leakage in various types of CUDA applications. When tracking the execution of CUDA applications, we design a hierarchical tracing scheme and extend the A-DCFG (Attributed Dynamic Control Flow Graph) to address the massively parallel execution in CUDA, ensuring Owl's detection scalability. After completing the initial assessment and filtering, we conduct statistical tests on the differences in program traces to determine whether they are indeed caused by input variations, subsequently facilitating the positioning of side-channel leaks. We evaluate Owl's capability to detect side-channel leaks by testing it on Libgpucrypto, PyTorch, and nvJPEG. Meanwhile, we verify that our solution effectively handles a large number of threads. Owl has successfully identified hundreds of leaks within these applications. To the best of our knowledge, we are the first to implement side-channel leakage detection for general CUDA applications.

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core idea of our approach is to decouple 6D pose estimation into a sequential two-step process, first estimating the 3D translation and then the 3D rotation of each object. This decoupled formulation first resolves the scale and depth ambiguities in single RGB images, and uses these estimates to accurately identify the object orientation in the second stage, which is greatly simplified with an accurate scale estimate. Moreover, to accommodate the multi-modal distribution present in rotation space, we develop an optimization scheme that explicitly handles object symmetries and counteracts measurement uncertainties. In comparison to the state-of-the-art multi-view approach, we demonstrate that the proposed approach achieves substantial improvements on a challenging 6D pose estimation dataset for textureless objects.