A common objective lens typically used in reading data from different optical data storage media that are responsive to laser beams of different wavelengths, such as CD and DVD is provided. The lens has a refracting surface with inner and outer refracting surface regions. Diffraction gratings are provided in both the inner and outer refracting surface regions with each having a differential optical path function. The inner diffraction grating and at least a part of the outer diffraction grating emit an order of diffracted beams which have different polarities to cancel out any spherical aberrations caused by a change in temperature.

 
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> Systems and methods for computing a relative pose for global localization in a visual simultaneous localization and mapping system

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