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Underwater robots play an important role in oceanic geological exploration, resource exploitation, ecological research, and other fields. However, the visual perception of underwater robots is affected by various environmental factors. The…
Depth information plays a crucial role in autonomous systems for environmental perception and robot state estimation. With the rapid development of deep neural network technology, depth estimation has been extensively studied and shown…
Underwater imagery often exhibits distorted coloration as a result of light-water interactions, which complicates the study of benthic environments in marine biology and geography. In this research, we propose an algorithm to restore the…
Due to the absorption and scattering effects of the water, underwater images tend to suffer from many severe problems, such as low contrast, grayed out colors and blurring content. To improve the visual quality of underwater images, we…
Underwater imaging is a critical task performed by marine robots for a wide range of applications including aquaculture, marine infrastructure inspection, and environmental monitoring. However, water column effects, such as attenuation and…
Underwater vision suffers from severe effects due to selective attenuation and scattering when light propagates through water. Such degradation not only affects the quality of underwater images but limits the ability of vision tasks.…
Images acquired during underwater activities suffer from environmental properties of the water, such as turbidity and light attenuation. These phenomena cause color distortion, blurring, and contrast reduction. In addition, irregular…
Underwater images are degraded by the selective attenuation of light that distorts colours and reduces contrast. The degradation extent depends on the water type, the distance between an object and the camera, and the depth under the water…
Successful applications of complex vision-based behaviours underwater have lagged behind progress in terrestrial and aerial domains. This is largely due to the degraded image quality resulting from the physical phenomena involved in…
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 image enhancement plays a crucial role in providing reliable visual information for underwater platforms, since strong absorption and scattering in water-related environments generally lead to image quality degradation. Existing…
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…
Aiming at the problems of color distortion, blur and excessive noise of underwater image, an underwater image enhancement algorithm based on structure-texture reconstruction is proposed. Firstly, the color equalization of the degraded image…
Recovery of true color from underwater images is an ill-posed problem. This is because the wide-band attenuation coefficients for the RGB color channels depend on object range, reflectance, etc. which are difficult to model. Also, there is…
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…
Underwater images often have severe quality degradation and distortion due to light absorption and scattering in the water medium. A hazed image formation model is widely used to restore the image quality. It depends on two optical…
Underwater images often suffer from quality degradation due to absorption and scattering effects. Most existing underwater image enhancement algorithms produce a single, fixed-color image, limiting user flexibility and application. To…
Underwater images are severely degraded by wavelength-dependent light absorption and scattering, resulting in color distortion, low contrast, and loss of fine details that hinder vision-based underwater applications. To address these…
This work presents a camera model for refractive media such as water and its application in underwater visual-inertial odometry. The model is self-calibrating in real-time and is free of known correspondences or calibration targets. It is…
Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…