Related papers: Shallow Water Bathymetry Mapping from UAV Imagery …
Mapping the seafloor with underwater imaging cameras is of significant importance for various applications including marine engineering, geology, geomorphology, archaeology and biology. For shallow waters, among the underwater imaging…
Estimation of nearshore bathymetry is important for accurate prediction of nearshore wave conditions. However, direct data collection is expensive and time-consuming while accurate airborne lidar-based survey is limited by breaking waves…
Simultaneous localization and mapping (SLAM) frameworks for autonomous navigation rely on robust data association to identify loop closures for back-end trajectory optimization. In the case of autonomous underwater vehicles (AUVs) equipped…
The reconstruction of accurate three-dimensional environment models is one of the most fundamental goals in the field of photogrammetry. Since satellite images provide suitable properties for obtaining large-scale environment…
Development of the new methods of surface water observation is crucial in the perspective of increasingly frequent extreme hydrological events related to global warming and increasing demand for water. Orthophotos and digital surface models…
Aircraft-based surveying to collect airborne electromagnetic data is a key method to image large swaths of the Earth's surface in pursuit of better knowledge of aquifer systems. Despite many years of advancements, 3D inversion still poses…
Task generation for underwater multi-robot inspections without prior knowledge of existing geometry can be achieved and optimized through examination of simultaneous localization and mapping (SLAM) data. By considering hardware parameters…
Despite substantial technological advancements, the comprehensive mapping of surface water, particularly smaller bodies (<1ha), continues to be a challenge due to a lack of robust, scalable methods. Standard methods require either training…
Knowledge of the bottom topography, also called bathymetry, of rivers, seas or the ocean is important for many areas of maritime science and civil engineering. While direct measurements are possible, they are time consuming and expensive.…
With FaSS-MVS, we present an approach for fast multi-view stereo with surface-aware Semi-Global Matching that allows for rapid depth and normal map estimation from monocular aerial video data captured by UAVs. The data estimated by…
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwater SLAM system that fuses a stereo…
Due to the irregular space-time sampling of sea surface observations, the reconstruction of sea surface dynamics is a challenging inverse problem. While satellite altimetry provides a direct observation of the sea surface height (SSH),…
Unmanned Surface Vehicles (USVs) have become critical tools for marine exploration, environmental monitoring, and autonomous navigation. Accurate estimation of wave direction is essential for improving USV navigation and ensuring…
Maritime object detection is critical for the safe navigation of unmanned surface vessels (USVs), requiring accurate recognition of obstacles from small buoys to large vessels. Real-time detection is challenging due to long distances, small…
Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…
The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can…
Vision-based underwater robots can be useful in inspecting and exploring confined spaces where traditional sensors and preplanned paths cannot be followed. Sensor noise and situational change can cause significant uncertainty in…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and…
Bathymetry reconstruction is an important problem in various fields, including oceanography and environmental monitoring. This paper presents a Bayesian inference approach to reconstructing bathymetries from point measurements of the water…
Underwater Salient Object Detection (USOD) faces significant challenges, including underwater image quality degradation and domain gaps. Existing methods tend to ignore the physical principles of underwater imaging or simply treat…