Related papers: Deep Sea Robotic Imaging Simulator
Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…
Underwater images captured by Autonomous Underwater Vehicles (AUVs) are inevitably affected by artificial light sources, which often produce halos in the foreground of the camera and seriously interfere with the quality of the image. The…
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…
Underwater image restoration is of significant importance in unveiling the underwater world. Numerous techniques and algorithms have been developed in the past decades. However, due to fundamental difficulties associated with…
Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…
Deep vision models are now mature enough to be integrated in industrial and possibly critical applications such as autonomous navigation. Yet, data collection and labeling to train such models requires too much efforts and costs for a…
This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a learning-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such…
We propose a novel method to generate underwater object imagery that is acoustically compliant with that generated by side-scan sonar using the Unreal Engine. We describe the process to develop, tune, and generate imagery to provide…
We present DAVE Aquatic Virtual Environment (DAVE), an open source simulation stack for underwater robots, sensors, and environments. Conventional robotics simulators are not designed to address unique challenges that come with the marine…
Approximately seventy-one percent of the Earth is covered in water. Of that area, ninety-five percent of the ocean has never been explored or mapped. There are several engineering challenges that have prevented the exploration of the deep…
Underwater videos often suffer from degraded quality due to light absorption, scattering, and various noise sources. Among these, marine snow, which is suspended organic particles appearing as bright spots or noise, significantly impacts…
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…
The challenges in recovering underwater images are the presence of diverse degradation factors and the lack of ground truth images. Although synthetic underwater image pairs can be used to overcome the problem of inadequately observing…
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…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
To image in high resolution large and occlusion-prone scenes, a camera must move above and around. Degradation of visibility due to geometric occlusions and distances is exacerbated by scattering, when the scene is in a participating…
Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…
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…
In this paper, we propose a novel technique to reconstruct 3D surface of an underwater object using stereo images. Reconstructing the 3D surface of an underwater object is really a challenging task due to degraded quality of underwater…
Visibility underwater is challenging, and degrades as the distance between the subject and camera increases, making vision tasks in the forward-looking direction more difficult. We have collected underwater forward-looking stereo-vision and…