Related papers: Shallow Water Bathymetry Mapping from UAV Imagery …
We address the problem of looking into the water from the air, where we seek to remove image distortions caused by refractions at the water surface. Our approach is based on modeling the different water surface structures at various points…
Uncertainty quantification of the photogrammetry process is essential for providing per-point accuracy credentials of the point clouds. Unlike airborne LiDAR, whose accuracy generally remains consistent with objects with varying geometric…
Two-view structure-from-motion (SfM) is the cornerstone of 3D reconstruction and visual SLAM. Existing deep learning-based approaches formulate the problem by either recovering absolute pose scales from two consecutive frames or predicting…
Learning-based multi-view stereo (MVS) methods deal with predicting accurate depth maps to achieve an accurate and complete 3D representation. Despite the excellent performance, existing methods ignore the fact that a suitable depth…
Millimeter wave (mmWave) sensing is an emerging technology with applications in 3D object characterization and environment mapping. However, realizing precise 3D reconstruction from sparse mmWave signals remains challenging. Existing…
Obtaining pixel-level annotations over large spatial extents remains a major bottleneck for deploying machine learning in ecological applications. Here we present a multi-scale weakly supervised semantic segmentation (WSSS) framework that…
We consider the case in which a robot has to navigate in an unknown environment but does not have enough on-board power or payload to carry a traditional depth sensor (e.g., a 3D lidar) and thus can only acquire a few (point-wise) depth…
We present a neural-field-based large-scale reconstruction system that fuses lidar and vision data to generate high-quality reconstructions that are geometrically accurate and capture photo-realistic textures. This system adapts the…
Tasks such as autonomous navigation, 3D reconstruction, and object recognition near the water surfaces are crucial in marine robotics applications. However, challenges arise due to dynamic disturbances, e.g., light reflections and…
The research on neural radiance fields for new view synthesis has experienced explosive growth with the development of new models and extensions. The NERF algorithm, suitable for underwater scenes or scattering media, is also evolving.…
Both higher efficiency and cost reduction can be gained from automating bathymetric surveying for offshore applications such as pipeline, telecommunication or power cables installation and inspection on the seabed. We present a SLAM system…
Structure-from-motion (SfM) is a long-standing problem in the computer vision community, which aims to reconstruct the camera poses and 3D structure of a scene from a set of unconstrained 2D images. Classical frameworks solve this problem…
Underwater scene reconstruction is a critical tech-nology for underwater operations, enabling the generation of 3D models from images captured by underwater platforms. However, the quality of underwater images is often degraded due to…
Underwater image restoration has been a challenging problem for decades since the advent of underwater photography. Most solutions focus on shallow water scenarios, where the scene is uniformly illuminated by the sunlight. However, the vast…
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…
Nowadays underwater vision systems are being widely applied in ocean research. However, the largest portion of the ocean - the deep sea - still remains mostly unexplored. Only relatively few image sets have been taken from the deep sea due…
Real-time satellite imaging has a central role in monitoring, detecting and estimating the intensity of key natural phenomena such as floods, earthquakes, etc. One important constraint of satellite imaging is the trade-off between…
In this paper, we present a comprehensive investigation of the challenges of Monocular Visual Simultaneous Localization and Mapping (vSLAM) methods for underwater robots. While significant progress has been made in state estimation methods…
Photometry is a convenient operational method for monitoring such dynamically evolving phenomena as wind waves. Nowadays machine learning allows one to avoid explicit derivation of the solution to the problem, describing all the…
Bathymetry, the study of underwater topography, relies on sonar mapping of submerged structures. These measurements, critical for infrastructure health monitoring, often require expensive instrumentation. The high financial risk associated…