Related papers: Real-time Model-based Image Color Correction for U…
This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization…
Although recent learning-based calibration methods can predict extrinsic and intrinsic camera parameters from a single image, the accuracy of these methods is degraded in fisheye images. This degradation is caused by mismatching between the…
Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…
Underwater image enhancement, as a pre-processing step to improve the accuracy of the following object detection task, has drawn considerable attention in the field of underwater navigation and ocean exploration. However, most of the…
We present a wavelet-based dual-stream network that addresses color cast and blurry details in underwater images. We handle these artifacts separately by decomposing an input image into multiple frequency bands using discrete wavelet…
Underwater robotic grasping is difficult due to degraded, highly variable imagery and the expense of collecting diverse underwater demonstrations. We introduce a system that (i) autonomously collects successful underwater grasp…
Depth cameras are a prominent perception system for robotics, especially when operating in natural unstructured environments. Industrial applications, however, typically involve reflective objects under harsh lighting conditions, a…
This paper presents a learned model to predict the robot-centric velocity of an underwater robot through dynamics-aware proprioception. The method exploits a recurrent neural network using as inputs inertial cues, motor commands, and…
The powerful representation capacity of deep learning has made it inevitable for the underwater image enhancement community to employ its potential. The exploration of deep underwater image enhancement networks is increasing over time, and…
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…
Underwater image restoration aims to remove geometric and color distortions due to water refraction, absorption and scattering. Previous studies focus on restoring either color or the geometry, but to our best knowledge, not both. However,…
Continuous and reliable underwater monitoring is essential for assessing marine biodiversity, detecting ecological changes and supporting autonomous exploration in aquatic environments. Underwater monitoring platforms rely on mainly visual…
In the field of underwater vision research, image matching between the sonar sensors and optical cameras has always been a challenging problem. Due to the difference in the imaging mechanism between them, which are the gray value, texture,…
In this work, we address the problem of real-time dense depth estimation from monocular images for mobile underwater vehicles. We formulate a deep learning model that fuses sparse depth measurements from triangulated features to improve the…
Underwater monocular depth estimation serves as the foundation for tasks such as 3D reconstruction of underwater scenes. However, due to the influence of light and medium, the underwater environment undergoes a distinctive imaging process,…
In an underwater scene, wavelength-dependent light absorption and scattering degrade the visibility of images, causing low contrast and distorted color casts. To address this problem, we propose a convolutional neural network based image…
Self-supervised monocular depth estimation has been widely investigated to estimate depth images and relative poses from RGB images. This framework is attractive for researchers because the depth and pose networks can be trained from just…
Distortion is widely existed in the images captured by popular wide-angle cameras and fisheye cameras. Despite the long history of distortion rectification, accurately estimating the distortion parameters from a single distorted image is…
Corals serve as the foundational habitat-building organisms within reef ecosystems, constructing extensive structures that extend over vast distances. However, their inherent fragility and vulnerability to various threats render them…
In this paper, we consider a problem inspired by the real-world need to identify the topographical features of ocean basins. Specifically we consider the problem of estimating the bottom impermeable boundary to an inviscid, incompressible,…