Related papers: Parametric Design of Underwater Optical Systems
Similar to algorithms, which consume time and memory to run, hardware requires resources to function. For devices processing physical waves, implementing operations needs sufficient "space," as dictated by wave physics. How much space is…
Repair and maintenance of underwater structures as well as marine science rely heavily on the results of underwater object detection, which is a crucial part of the image processing workflow. Although many computer vision-based approaches…
Ultrathin meta-optics offer unmatched, multifunctional control of light. Next-generation optical technologies, however, demand unprecedented performance. This will likely require design algorithms surpassing the capability of human…
Designing a multi-layer optical system with designated optical characteristics is an inverse design problem in which the resulting design is determined by several discrete and continuous parameters. In particular, we consider three design…
Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in sampling-based motion planning that supports long-range planning…
When employing underwater vehicles for the autonomous inspection of assets, it is crucial to consider and assess the water conditions. These conditions significantly impact visibility and directly affect robotic operations. Turbidity can…
We analyze how complicated a linear optical component has to be if it is to perform one of a range of functions. Specifically, we devise an approach to evaluating the number of real parameters that must be specified in the device design or…
Nanophotonic structures have versatile applications including solar cells, anti-reflective coatings, electromagnetic interference shielding, optical filters, and light emitting diodes. To design and understand these nanophotonic structures,…
Underwater imagery often suffers from severe degradation resulting in low visual quality and reduced object detection performance. This work aims to evaluate state-of-the-art image enhancement models, investigate their effects on underwater…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…
This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…
This paper introduces the concept of employing neuromorphic methodologies for task-oriented underwater robotics applications. In contrast to the increasing computational demands of conventional deep learning algorithms, neuromorphic…
Optical flow estimation is a well-studied topic for automated driving applications. Many outstanding optical flow estimation methods have been proposed, but they become erroneous when tested in challenging scenarios that are commonly…
In this report I attempt to outline the process of developing and building an absorption imaging system capable of imaging ultracold atoms. In the theory section I will discuss the elements required to estimate the atom number and derive…
Underwater imaging is fundamentally challenging due to wavelength-dependent light attenuation, strong scattering from suspended particles, turbidity-induced blur, and non-uniform illumination. These effects impair standard cameras and make…
An object detection pipeline comprises a camera that captures the scene and an object detector that processes these images. The quality of the images directly affects the performance of the object detector. Many works nowadays focus either…
Imaging systems are inherently prone to aberrations. We present an optimization method to design two-dimensional freeform reflectors that minimize aberrations for various parallel ray beams incident on the optical system. We iteratively…
End-to-end optimization, which simultaneously optimizes optics and algorithms, has emerged as a powerful data-driven method for computational imaging system design. This method achieves joint optimization through backpropagation by…
Underwater image enhancement is such an important vision task due to its significance in marine engineering and aquatic robot. It is usually work as a pre-processing step to improve the performance of high level vision tasks such as…
Underwater sites are a harsh environment for augmented reality applications. Obstacles that must be battled include poor visibility conditions, difficult navigation, and hard manipulation with devices under water. This chapter focuses on…