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Quantum teleportation is a fundamental ingredient for quantum information science and technology. In particular, the ability to perform quantum teleportation between quantum systems of different natures and encoding types is crucial for building complex systems, such as distributed quantum internet. Here we propose a scheme to teleport a continuous variable optical qubit, encoded in an optical qumode by means of a superposed coherent state, onto a discrete variable solid-state qubit, associated with a single nitrogen-vacancy center spin in diamond, via a hybrid entanglement. By using a newly developed method for Bell-state measurement, which relies only on light homodyne detection and spin polarization measurement, near-deterministic and -perfect quantum teleportation can be achieved for large coherent-state amplitude input. Taking noise effects into account, we find that the average teleportation fidelity can still exceed the classical limit, enabling substantial teleportation distances under realistic experimental conditions.

This paper presents, for the first time, an image enhancement methodology designed to enhance the clarity of small intestinal villi in Wireless Capsule Endoscopy (WCE) images. This method first separates the low-frequency and high-frequency components of small intestinal villi images using guided filtering. Subsequently, an adaptive light gain factor is generated based on the low-frequency component, and an adaptive gradient gain factor is derived from the convolution results of the Laplacian operator in different regions of small intestinal villi images. The obtained light gain factor and gradient gain factor are then combined to enhance the high-frequency components. Finally, the enhanced high-frequency component is fused with the original image to achieve adaptive sharpening of the edges of WCE small intestinal villi images. The experiments affirm that, compared to established WCE image enhancement methods, our approach not only accentuates the edge details of WCE small intestine villi images but also skillfully suppresses noise amplification, thereby preventing the occurrence of edge overshooting.

In Visual SLAM, achieving accurate feature matching consumes a significant amount of time, severely impacting the real-time performance of the system. This paper proposes an accelerated method for Visual SLAM by integrating GMS (Grid-based Motion Statistics) with RANSAC (Random Sample Consensus) for the removal of mismatched features. The approach first utilizes the GMS algorithm to estimate the quantity of matched pairs within the neighborhood and ranks the matches based on their confidence. Subsequently, the Random Sample Consensus (RANSAC) algorithm is employed to further eliminate mismatched features. To address the time-consuming issue of randomly selecting all matched pairs, this method transforms it into the problem of prioritizing sample selection from high-confidence matches. This enables the iterative solution of the optimal model. Experimental results demonstrate that the proposed method achieves a comparable accuracy to the original GMS-RANSAC while reducing the average runtime by 24.13% on the KITTI, TUM desk, and TUM doll datasets.

Feature matching is a fundamental and crucial process in visual SLAM, and precision has always been a challenging issue in feature matching. In this paper, based on a multi-level fine matching strategy, we propose a new feature matching method called KTGP-ORB. This method utilizes the similarity of local appearance in the Hamming space generated by feature descriptors to establish initial correspondences. It combines the constraint of local image motion smoothness, uses the GMS algorithm to enhance the accuracy of initial matches, and finally employs the PROSAC algorithm to optimize matches, achieving precise matching based on global grayscale information in Euclidean space. Experimental results demonstrate that the KTGP-ORB method reduces the error by an average of 29.92% compared to the ORB algorithm in complex scenes with illumination variations and blur.

To address the issue of increased triangulation uncertainty caused by selecting views with small camera baselines in Structure from Motion (SFM) view selection, this paper proposes a robust error-resistant view selection method. The method utilizes a triangulation-based computation to obtain an error-resistant model, which is then used to construct an error-resistant matrix. The sorting results of each row in the error-resistant matrix determine the candidate view set for each view. By traversing the candidate view sets of all views and completing the missing views based on the error-resistant matrix, the integrity of 3D reconstruction is ensured. Experimental comparisons between this method and the exhaustive method with the highest accuracy in the COLMAP program are conducted in terms of average reprojection error and absolute trajectory error in the reconstruction results. The proposed method demonstrates an average reduction of 29.40% in reprojection error accuracy and 5.07% in absolute trajectory error on the TUM dataset and DTU dataset.

To address the issue of feature descriptors being ineffective in representing grayscale feature information when images undergo high affine transformations, leading to a rapid decline in feature matching accuracy, this paper proposes a region feature descriptor based on simulating affine transformations using classification. The proposed method initially categorizes images with different affine degrees to simulate affine transformations and generate a new set of images. Subsequently, it calculates neighborhood information for feature points on this new image set. Finally, the descriptor is generated by combining the grayscale histogram of the maximum stable extremal region to which the feature point belongs and the normalized position relative to the grayscale centroid of the feature point's region. Experimental results, comparing feature matching metrics under affine transformation scenarios, demonstrate that the proposed descriptor exhibits higher precision and robustness compared to existing classical descriptors. Additionally, it shows robustness when integrated with other descriptors.

The images captured by Wireless Capsule Endoscopy (WCE) always exhibit specular reflections, and removing highlights while preserving the color and texture in the region remains a challenge. To address this issue, this paper proposes a highlight removal method for capsule endoscopy images. Firstly, the confidence and feature terms of the highlight region's edges are computed, where confidence is obtained by the ratio of known pixels in the RGB space's R channel to the B channel within a window centered on the highlight region's edge pixel, and feature terms are acquired by multiplying the gradient vector of the highlight region's edge pixel with the iso-intensity line. Subsequently, the confidence and feature terms are assigned different weights and summed to obtain the priority of all highlight region's edge pixels, and the pixel with the highest priority is identified. Then, the variance of the highlight region's edge pixels is used to adjust the size of the sample block window, and the best-matching block is searched in the known region based on the RGB color similarity and distance between the sample block and the window centered on the pixel with the highest priority. Finally, the pixels in the best-matching block are copied to the highest priority highlight removal region to achieve the goal of removing the highlight region. Experimental results demonstrate that the proposed method effectively removes highlights from WCE images, with a lower coefficient of variation in the highlight removal region compared to the Crinimisi algorithm and DeepGin method. Additionally, the color and texture in the highlight removal region are similar to those in the surrounding areas, and the texture is continuous.

We propose an approach to produce spin squeezed states of a large number of nitrogen-vacancy centers in diamond nanostructures coupled to an optical cavity. Unlike the previous squeezing method proposed by Bennett et al. [Phys. Rev. Lett. 110, 156402 (2013)], which is limited by phonon number fluctuations due to the existence of phonon-spin entanglement, our proposal can completely erase the entanglement between spins and hybrid phonon-photon mode mediating the effective spin-spin interaction, and thus achieves unitary one-axis-twisting interactions between nitrogen-vacancy centres, yielding a squeezing scaling $J^{-2/3}$, where J is the total angular momentum. We found that, under certain conditions, our method has the potential to enhance the spin-spin nonlinear interactions. We also proposed a scheme utilizing repeatedly applying the one-axis-twisting evolution to two orthogonal spin directions, which enables the transformation of the one-axis-twisting interactions into two-axis-twisting type, and therefore leads to the spin squeezing with Heisenberg-limited scaling $J^{-1}$. Taking into account the noise effects of spin dephasing and relaxtion, we found that the proposed approaches are robust against imperfections.

Squeezed spin states and squeezed light are both key resources for quantum metrology and quantum information science, but have been separately investigated in experiments so far. Simultaneous generation of these two types of quantum states in one experiment setup is intriguing but remains a challenging goal. Here we propose a novel protocol based on judiciously engineered symmetric atom-light interaction, and report proof-of-principle experimental results of concurrent spin squeezing of $0.61\pm0.09~\mathrm{dB}$ and light squeezing of $0.65^{+0.11}_{-0.10}~\mathrm{dB}$ in a hot atomic ensemble. The squeezing process is deterministic, yielding fixed squeezing directions for both the light field and the collective atomic spin. Furthermore, the squeezed light modes lie in the multiple frequency sidebands of a single spatial mode. This new type of dual squeezed state is applicable for quantum enhanced metrology and quantum networks. Our method can be extended to other quantum platforms such as optomechanics, cold atom and trapped ions., Comment: manuscript with 7 pages, 4 figures, supplemental material with 17 pages, 9 figures

Entangled states with a large number of $N$ atomic spins are a key ingredient for quantum information processing and quantum metrology. Nowadays, the preparation of such states has mainly relied on the quadratic nonlinear dynamics. Here, we investigate the preparation of spin-spin multipartite entanglement, witnessed by quantum Fisher information, by using the cubic nonlinear dynamics. We find that, in the regime of weak coupling, the cubic scheme can greatly speed up the rate of entanglement generation as compared to the quadratic scheme (about $N$ times faster). In the strong coupling regime, the cubic nonlinear dynamics enables the periodic in time generation of a broad variety of new-type macroscopic superposition states, which allow us to realize near-Heisenberg-limit phase sensitivity. In addition, we also reveal an interesting feature that the amount of entanglement generated by the cubic scheme has a macroscopic sensitivity to the parity of $N$, which has no counterpart in quadratic nonlinear dynamics and can be exploited for sensing the parity of $N$ at the single-spin level. We also propose a new approach for a fast and high-fidelity generation of maximally entangled Greenberger-Horne-Zeilinger (GHZ) states. By using an alternative cubic-quadratic-admixture type of nonlinear interaction, we show that one may accelerate the procedure of GHZ-state generation. The realization of the cubic nonlinear dynamics is also considered, showing that the cubic nonlinear dynamics can be realized by either repeatedly using linear- and quadratic-nonlinear dynamics or utilizing light-mediated interactions in just one step. Finally, by taking realistic imperfections into account, we find that the cubic scheme is sensitivity to the single-spin decay in the strong coupling regime, while is robust against the collective dephasing.

Strong long-distance spin-magnon coupling is essential for solid-state quantum information processing and single qubit manipulation. Here, we propose an approach to realize strong spin-magnon coupling in a hybrid optomechanical cavity-spin-magnon system, where the optomechanical system, consisting of two cavities coupled to a common high-frequency mechanical resonator, acts as quantum interface. By eliminating the mechanical mode, a position-position coupling and two-mode squeezing of two cavities are induced. In the squeezing presentation, the spin-photon, magnon-photon and photon-photon coupling strengths are exponentially amplified, thus lower- and upper-branch polaritons (LBP and UBP) are generated by strongly coupled squeezed modes of two cavities. Utilizing the critical property of the LBP, the coupling between the spin qubit (magnon) and LBP is greatly enhanced, while the coupling between the spin qubit (magnon) and UBP is fully suppressed. In the dispersive regime, strong and tunable spin-magnon coupling is induced by the virtual LBP, allowing quantum state exchange between them. Our proposal provides a promising platform to construct magnon-based hybrid systems and realize solid-state quantum information processing with optomechanical interfaces., Comment: 13 pages, 6 figures

Higher-order exceptional points (EPs) in non-Hermitian systems have attracted great interest due to their advantages in sensitive enhancement and distinct topological features. However, realization of such EPs is still challenged because more fine-tuning parameters is generically required in quantum systems, compared to the second-order EP (EP2). Here, we propose a non-Hermitian three-mode optomechanical system in the blue-sideband regime for predicting the third-order EP (EP3). By deriving the pseudo-Hermitian condition for the proposed system, one cavity with loss and the other one with gain must be required. Then we show EP3 or EP2 can be observed when the mechanical resonator (MR) is neutral, loss or gain. For the neutral MR, we find both two degenerate or two non-degenerate EP3s can be predicted by tuning system parameters in the parameter space, while four non-degenerate EP2s can be observed when the system parameters derivate from EP3s, which is distinguished from the previous study in the red-detuned optomechanical system. For the gain (loss) MR, we find only two degenerate EP3s or EP2s can be predicted by tuning enhanced coupling strength. Our proposal provides a potential way to predict higher-order EPs or multiple EP2s and study multimode quantum squeezing around EPs using the blue-detuned non-Hermitian optomechanical systems., Comment: 13 pages, 8 figures

Higher-order exceptional points (EPs), resulting from non-Hermitian degeneracies, have shown greater advantages in sensitive enhancement than second-order EPs (EP2s). Therefore, seeking higher-order EPs in various quantum systems is important for quantum information science. Here we propose a benchmark cavity optomechanical (COM) system consisting of a mechanical resonator (MR) coupled to two cavities via radiation pressure for predicting the third-order exceptional point (EP3). We first give the pseudo-Hermitian condition for the non-Hermitian COM system by taking the bath effects into account. Then we consider the mechanical gain effect and we find that the pseudo-Hermitian COM system without $\mathcal{PT}$ symmetry can host both the EP3 and EP2 for symmetric and asymmetric cavities. In the symmetric case, only the EP3 or EP2 can be predicted in the parameter space, but the EP3 and EP2 can be transformed into each other by tuning the COM coupling strength in the asymmetric case. We further consider the case of one cavity with gain. For this case, the pseudo-Hermitian COM system is $\mathcal{PT}$-symmetric and can also host the EP3 or EP2. The influence of system parameters on them are discussed. Our proposal provides a potential way to realize sensitive detection and study other physical phenomena {around} higher-order EP3 in non-Hermitian COM systems., Comment: 13 pages, 7 figures

Quantum computation and quantum information processing are emerging technologies that have potential to overcome the physical limitation of traditional computation systems. Present quantum systems based on photons, atoms and molecules, however, all face challenges such as short coherence time, requirement of ultralow temperature and/or high vacuum, and lack of scalability. We report a new type of molecular qubits and nanoparticle ensembles based on thermally controllable transformation between J-aggregation and monomeric states of molecular chromophores, using pyrrolopyrrole cyanine tethered with polymeric chains such as polycaprolactones as an example. Such supramolecular quantum systems, resembling some feature of light harvesting complexes in photosynthesis, provide new opportunities for manipulating quantum in-formation under mild conditions, which do not require complicated ultra-cooling and/or high vacuum often involved in present superconducting qubits or Rydberg atoms for quantum computation and information processing.

Engineering strong single-photon optomechanical couplings is crucial for optomechanical systems. Here, we propose a hybrid quantum system consisting of a nanobeam (phonons) coupled to a spin ensemble and a cavity (photons) to overcome it. Utilizing the critical property of the lower-branch polariton (LBP) formed by the ensemble-phonon interaction, the LBP-cavity coupling can be greatly enhanced by three orders magnitude of the original one, while the upper-branch polariton (UBP)-cavity coupling is fully suppressed. Our proposal breaks through the condition of the coupling strength less than the critical value in previous schemes using two harmonic oscillators. Also, strong Kerr effect can be induced in our proposal. This shows our proposed approach can be used to study quantum nonlinear and nonclassical effects in weakly coupled optomechanical systems., Comment: 6 pages, 3 figures

The long coherence time of a single nitrogen vacancy (NV) center spin in diamond is a crucial advantage for implementing quantum information processing. However, the realization of strong coupling between single NV spins is challenging. Here we propose a method to greatly enchance the interaction between two single NV spins in diamond which are only weakly coupled to an electromechanical cavity. Owing to the presence of a critical point for the linearized electromechanical subsystem, the coupling between a single NV spin and the high-frequency polariton (formed by the mechanical and cavity modes) can be fully decoupled, but the coupling between the single NV spin and the low-frequency polariton is however greatly enhanced. Thus, AC Stark shift of the single NV spin can be measured. With the low-frequency polariton as a quantum bus, a strong coupling between two single NV centers is achievable. This effective strong coupling can ensure coherent quantum-information exchange between two spin qubits in the weakly coupled spin-cavity elecromechanical system., Comment: 8 pages, 4 figures

In-situ aeroengine maintenance works are highly beneficial as it can significantly reduce the current maintenance cycle which is extensive and costly due to the disassembly requirement of engines from aircrafts. However, navigating in/out via inspection ports and performing multi-axis movements with end-effectors in constrained environments (e.g. combustion chamber) are fairly challenging. A novel extra-slender (diameter-to-length ratio <0.02) dual-stage continuum robot (16 degree-of-freedom) is proposed to navigate in/out confined environments and perform required configuration shapes for further repair operations. Firstly, the robot design presents several innovative mechatronic solutions: (i) dual-stage tendon-driven structure with bevelled disks to perform required shapes and to provide selective stiffness for carrying high payloads; (ii) various rigid-compliant combined joints to enable different flexibility and stiffness in each stage; (iii) three commanding cables for each 2-DoF section to minimise the number of actuators with precise actuations. Secondly, a segment-scaled piecewise-constant-curvature-theory based kinematic model and a Kirchhoff-elastic-rod-theory based static model are established by considering the applied forces/moments (friction, actuation, gravity and external load), where the friction coefficient is modelled as a function of bending angle. Finally, experiments were carried out to validate the proposed static modelling and to evaluate the robot capabilities of performing the predefined shape and stiffness., Comment: 11 pages, 12 figures, journal

A weak measurement approach is proposed to entangle and squeeze atoms. We show that even for very small coupling strength between light and atoms, one can achieve large squeezing unattainable with normal measurement-based squeezing. Post-selecting the photons interacting with spins via a weak off-resonant quantum nondemolition interaction (QND) in a state nearly orthogonal to its initial state can strengthen the entanglement among elementary spins and thus enhance spin squeezing. The squeezing process is probabilistic but the created state is unconditionally determined. Further control of the post-selection parameter and the detection process can transform the QND-like spin squeezing into the one-axis-twisting or even two-axis-twisting type., Comment: 6 pages, 2 figures

Quantum probes using $N$ uncorrelated particles give a limit on the measurement sensitivity referred to as the standard quantum limit (SQL). The SQL, however, can be overcome by exploiting quantum entangled states, such as spin squeezed states. We report generation of a quantum state, that surpasses the SQL for probing of the collective spin of $10^{11}$ $\text{Rb}$ atoms contained in a vapor cell. The state is prepared and verified by sequences of stroboscopic quantum non-demolition (QND) measurements, and we apply the theory of past quantum states to obtain the spin state information from the outcomes of both earlier and later QND measurements. In this way, we obtain a conditional noise reduction of 5.6 dB, and a metrologically-relevant squeezing of $4.5\pm0.40~\text{dB}$. The past quantum state yields tighter information on the spin component than we can obtain by a conventional QND measurement. Our squeezing results are obtained with 1000 times more atoms than in any previous experiments with a corresponding record $4.6\times10^{-13} rad^2$ variance of the angular fluctuations of a squeezed collective spin., Comment: 5 pages,3 figures