Related papers: Design and Implementation of a 3D Undersea Camera …
An object detection pipeline comprises a camera that captures the scene and an object detector that processes these images. The quality of the images directly affects the performance of the object detector. Many works nowadays focus either…
Fisheye cameras offer robots the ability to capture human movements across a wider field of view (FOV) than standard pinhole cameras, making them particularly useful for applications in human-robot interaction and automotive contexts.…
Existing underwater SLAM systems are difficult to work effectively in texture-sparse and geometrically degraded underwater environments, resulting in intermittent tracking and sparse mapping. Therefore, we present Water-DSLAM, a novel…
In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain…
This paper proposes a process that uses two cameras to obtain three-dimensional (3D) information of a target object for human tracking. Results of human detection and tracking from two cameras are integrated to obtain the 3D information.…
In recent years, camera-based 3D object detection has gained widespread attention for its ability to achieve high performance with low computational cost. However, the robustness of these methods to adversarial attacks has not been…
Using autonomous underwater vehicles, or AUVs, has completely changed how we gather data from the ocean floor. AUV innovation has advanced significantly, especially in the analysis of images, due to the increasing need for accurate and…
Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…
Underwater imagery often suffers from severe degradation resulting in low visual quality and reduced object detection performance. This work aims to evaluate state-of-the-art image enhancement models, investigate their effects on underwater…
In this paper, we delve into the realm of 4-D light fields (LFs) to enhance underwater imaging plagued by light absorption, scattering, and other challenges. Contrasting with conventional 2-D RGB imaging, 4-D LF imaging excels in capturing…
Precise 3D measurements of rigid surfaces are desired in many fields of application like quality control or surgery. Often, views from all around the object have to be acquired for a full 3D description of the object surface. We present a…
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…
Finding obstacle-free paths in unknown environments is a big navigation issue for visually impaired people and autonomous robots. Previous works focus on obstacle avoidance, however they do not have a general view of the environment they…
Recently, UAVs endowed with high mobility, low cost, and remote control have promoted the development of UAV-assisted real-time video/image acquisition applications, which have a high demand for both transmission rate and image resolution.…
Our understanding of the oceans remains limited by sparse and infrequent observations, primarily because current methods are constrained by the high cost and logistical effort of underwater monitoring, relying either on sporadic surveys…
Addressing the issue of submerged underwater trash is crucial for safeguarding aquatic ecosystems and preserving marine life. While identifying debris present on the surface of water bodies is straightforward, assessing the underwater…
This paper presents a novel approach to build consistent 3D maps for multi robot cooperation in USAR environments. The sensor streams from unmanned aerial vehicles (UAVs) and ground robots (UGV) are fused in one consistent map. The UAV…
Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…
In this paper, we propose a new deep architecture for fusing camera and LiDAR sensors for 3D object detection. Because the camera and LiDAR sensor signals have different characteristics and distributions, fusing these two modalities is…
Underwater object detection is a crucial and challenging problem in marine engineering and aquatic robot. The difficulty is partly because of the degradation of underwater images caused by light selective absorption and scattering.…