Related papers: Design and Implementation of a 3D Undersea Camera …
Hyperspectral imaging has been increasingly used for underwater survey applications over the past years. As many hyperspectral cameras work as push-broom scanners, their use is usually limited to the creation of photo-mosaics based on a…
Multi-view imaging systems enable uniform coverage of 3D space and reduce the impact of occlusion, which is beneficial for 3D object detection and tracking accuracy. However, existing imaging systems built with multi-view cameras or depth…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
Object detection aims to obtain the location and the category of specific objects in a given image, which includes two tasks: classification and location. In recent years, researchers tend to apply object detection to underwater robots…
3D scene models are useful in robotics for tasks such as path planning, object manipulation, and structural inspection. We consider the problem of creating a 3D model using depth images captured by a team of multiple robots. Each robot…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…
In this paper, we consider a new unmanned aerial vehicle (UAV)-assisted oblique image acquisition system where a UAV is dispatched to take images of multiple ground targets (GTs). To study the three-dimensional (3D) UAV trajectory design…
To image in high resolution large and occlusion-prone scenes, a camera must move above and around. Degradation of visibility due to geometric occlusions and distances is exacerbated by scattering, when the scene is in a participating…
Various real-time methods for capturing and transmitting dynamic 3D spaces have been proposed, including those based on RGB-D cameras and volumetric capture. However, applying existing methods to outdoor tourist sites remains difficult…
Recent advances in efficient design, perception algorithms, and computing hardware have made it possible to create improved human-robot interaction (HRI) capabilities for autonomous underwater vehicles (AUVs). To conduct secure missions as…
Vision-based motion estimation and 3D reconstruction, which have numerous applications (e.g., autonomous driving, navigation systems for airborne devices and augmented reality) are receiving significant research attention. To increase the…
Depth sensing is a critical component of autonomous driving technologies, but today's LiDAR- or stereo camera-based solutions have limited range. We seek to increase the maximum range of self-driving vehicles' depth perception modules for…
Underwater object detection (UOD), aiming to identify and localise the objects in underwater images or videos, presents significant challenges due to the optical distortion, water turbidity, and changing illumination in underwater scenes.…
Recently, a new underwater imaging formation model presented that the coefficients related to the direct and backscatter transmission signals are dependent on the type of water, camera specifications, water depth, and imaging range. This…
3D motion tracking is a critical task in many computer vision applications. Existing 3D motion tracking techniques require either a great amount of knowledge on the target object or specific hardware. These requirements discourage the wide…
To assist underwater object detection for better performance, image enhancement technology is often used as a pre-processing step. However, most of the existing enhancement methods tend to pursue the visual quality of an image, instead of…
In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…
Underwater visual enhancement (UVE) and underwater 3D reconstruction pose significant challenges in computer vision and AI-based tasks due to complex imaging conditions in aquatic environments. Despite the development of numerous…