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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…

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…

Underwater images are severely degraded by wavelength-dependent light absorption and scattering, resulting in color distortion, low contrast, and loss of fine details that hinder vision-based underwater applications. To address these…

Object pose estimation underwater allows an autonomous system to perform tracking and intervention tasks. Nonetheless, underwater target pose estimation is remarkably challenging due to, among many factors, limited visibility, light…

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…

Underwater imaging grapples with challenges from light-water interactions, leading to color distortions and reduced clarity. In response to these challenges, we propose a novel Color Balance Prior \textbf{Guided} \textbf{Hyb}rid…

In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…

Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…

Underwater images suffer from light refraction and absorption, which impairs visibility and interferes the subsequent applications. Existing underwater image enhancement methods mainly focus on image quality improvement, ignoring the effect…

Underwater images play a crucial role in ocean research and marine environmental monitoring since they provide quality information about the ecosystem. However, the complex and remote nature of the environment results in poor image quality…

Implicit representations of 3D objects have recently achieved impressive results on learning-based 3D reconstruction tasks. While existing works use simple texture models to represent object appearance, photo-realistic image synthesis…

Aiming at the problems of color distortion, blur and excessive noise of underwater image, an underwater image enhancement algorithm based on structure-texture reconstruction is proposed. Firstly, the color equalization of the degraded image…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

Depth estimation is critical for any robotic system. In the past years estimation of depth from monocular images have shown great improvement, however, in the underwater environment results are still lagging behind due to appearance changes…

Owing to refraction, absorption, and scattering of light by suspended particles in water, raw underwater images suffer from low contrast, blurred details, and color distortion. These characteristics can significantly interfere with the…

Maritime images captured under low-light imaging condition easily suffer from low visibility and unexpected noise, leading to negative effects on maritime traffic supervision and management. To promote imaging performance, it is necessary…

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…

Removing objects from images is a challenging problem that is important for many applications, including mixed reality. For believable results, the shadows that the object casts should also be removed. Current inpainting-based methods only…

Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…

While invaluable for many computer vision applications, decomposing a natural image into intrinsic reflectance and shading layers represents a challenging, underdetermined inverse problem. As opposed to strict reliance on conventional…