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Mask-based lensless cameras replace the lens of a conventional camera with a custom mask. These cameras can potentially be very thin and even flexible. Recently, it has been demonstrated that such mask-based cameras can recover light…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
Depth information serves as a crucial prerequisite for various visual tasks, whether on land or underwater. Recently, self-supervised methods have achieved remarkable performance on several terrestrial benchmarks despite the absence of…
This paper presents a general refractive camera model and online co-estimation of odometry and the refractive index of unknown media. This enables operation in diverse and varying refractive fluids, given only the camera calibration in air.…
Time-of-flight cameras provide depth information, which is complementary to the photometric appearance of the scene in ordinary images. It is desirable to merge the depth and colour information, in order to obtain a coherent scene…
Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. In this work, we propose D3RoMa, a…
This paper presents a novel dataset for the development of visual navigation and simultaneous localisation and mapping (SLAM) algorithms as well as for underwater intervention tasks. It differs from existing datasets as it contains ground…
In this paper, we propose a novel method for underwater robot-to-human communication using the motion of the robot as "body language". To evaluate this system, we develop simulated examples of the system's body language gestures, called…
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…
Camera-based tactile sensors can provide high-density surface geometry and force information for robots in the interaction process with the target. However, most existing methods cannot achieve accurate reconstruction with high efficiency,…
This paper introduces a novel method for inter-camera color calibration for multispectral imaging with camera arrays using a consensus image. Capturing images using multispectral camera arrays has gained importance in medical, agricultural,…
This paper presents a cross-modal learning framework that exploits complementary information from depth and grayscale images for robust navigation. We introduce a Cross-Modal Wasserstein Autoencoder that learns shared latent representations…
Recent data-driven image colorization methods have enabled automatic or reference-based colorization, while still suffering from unsatisfactory and inaccurate object-level color control. To address these issues, we propose a new method…
Intra-class terrain differences such as water content directly influence a vehicle's ability to traverse terrain, yet RGB vision systems may fail to distinguish these properties. Evaluating a terrain's spectral content beyond red-green-blue…
Underwater imaging often suffers from significant visual degradation, which limits its suitability for subsequent applications. While recent underwater image enhancement (UIE) methods rely on the current advances in deep neural network…
Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…
Underwater robot perception is crucial in scientific subsea exploration and commercial operations. The key challenges include non-uniform lighting and poor visibility in turbid environments. High-frequency forward-look sonar cameras address…
Stereoscopic videos can contain color mismatches between the left and right views due to minor variations in camera settings, lenses, and even object reflections captured from different positions. The presence of color mismatches can lead…
Underwater imagery is often compromised by factors such as color distortion and low contrast, posing challenges for high-level vision tasks. Recent underwater image restoration (UIR) methods either analyze the input image at full…
Accurate depth estimation under out-of-distribution (OoD) scenarios, such as adverse weather conditions, sensor failure, and noise contamination, is desirable for safety-critical applications. Existing depth estimation systems, however,…