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Computer vision techniques have empowered underwater robots to effectively undertake a multitude of tasks, including object tracking and path planning. However, underwater optical factors like light refraction and absorption present…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
Underwater video analysis is particularly challenging due to factors such as low lighting, color distortion, and turbidity, which compromise visual data quality and directly impact the performance of perception modules in robotic…
Enhancing underwater images is crucial for exploration. These images face visibility and color issues due to light changes, water turbidity, and bubbles. Traditional prior-based methods and pixel-based methods often fail, while deep…
Optical aberrations prevent telescopes from reaching their theoretical diffraction limit. Once estimated, these aberrations can be compensated for using deformable mirrors in a closed loop. Focal plane wavefront sensing enables the…
Underwater monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle to produce maps with high-fidelity rendering. In this paper,…
In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…
Many underwater applications rely on vision sensors and require proper camera calibration, i.e. knowing the incoming light ray for each pixel in the image. While for the ideal pinhole camera model all viewing rays intersect in a single 3D…
In this paper, we present the design and development of an undersea camera system. The goal of our system is to provide a 3D model of the undersea habitat in a long-term continuous manner. The most important feature of our system is the use…
Monocular depth estimation has recently progressed beyond ordinal depth to provide metric depth predictions. However, its reliability in underwater environments remains limited due to light attenuation and scattering, color distortion,…
This work aims at generating a model of the ocean surface and its dynamics from one or more video cameras. The idea is to model wave patterns from video as a first step towards a larger system of photogrammetric monitoring of marine…
Images captured in challenging environments often experience various forms of degradation, including noise, color cast, blur, and light scattering. These effects significantly reduce image quality, hindering their applicability in…
Autonomous underwater robots working with teams of human divers may need to distinguish between different divers, e.g. to recognize a lead diver or to follow a specific team member. This paper describes a technique that enables autonomous…
We present Nav2Goal, a data-efficient and end-to-end learning method for goal-conditioned visual navigation. Our technique is used to train a navigation policy that enables a robot to navigate close to sparse geographic waypoints provided…
Recently, the use of smart cameras in outdoor settings has grown to improve surveillance and security. Nonetheless, these systems are susceptible to tampering, whether from deliberate vandalism or harsh environmental conditions, which can…
Near-infrared gray images captured together with corresponding visible color images have recently proven useful for image restoration and classification. This paper introduces a new coloring method to add colors to near-infrared gray images…
We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…
Most digital camera pipelines use color constancy methods to reduce the influence of illumination and camera sensor on the colors of scene objects. The highest accuracy of color correction is obtained with learning-based color constancy…
We introduce a novel method for updating 3D geospatial models, specifically targeting occlusion removal in large-scale maritime environments. Traditional 3D reconstruction techniques often face problems with dynamic objects, like cars or…
Shading-based approaches like Photometric Stereo assume that the image formation model can be effectively optimized for the scene normals. However, in murky water this is a very challenging problem. The light from artificial sources is not…