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This paper focuses on perceiving and navigating 3D environments using echoes and RGB image. In particular, we perform depth estimation by fusing RGB image with echoes, received from multiple orientations. Unlike previous works, we go beyond…
Effective spatio-temporal measurements of water surface elevation (water waves) in laboratory experiments are crucial for scientific and engineering research. Existing techniques are often cumbersome, computationally heavy and generally…
A surface light field represents the radiance of rays originating from any points on the surface in any directions. Traditional approaches require ultra-dense sampling to ensure the rendering quality. In this paper, we present a novel…
Object detection aims to obtain the location and the category of specific objects in a given image, which includes two tasks: classification and location. In recent years, researchers tend to apply object detection to underwater robots…
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…
Creative processes such as painting often involve creating different components of an image one by one. Can we build a computational model to perform this task? Prior works often fail by making global changes to the image, inserting objects…
The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can…
Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…
Low light images captured in a non-uniform illumination environment usually are degraded with the scene depth and the corresponding environment lights. This degradation results in severe object information loss in the degraded image…
Alpha matting aims to estimate the translucency of an object in a given image. The resulting alpha matte describes pixel-wise to what amount foreground and background colors contribute to the color of the composite image. While most methods…
Mask-based lensless cameras offer a novel design for imaging systems by replacing the lens in a conventional camera with a layer of coded mask. Each pixel of the lensless camera encodes the information of the entire 3D scene. Existing…
Geometry reconstruction of textureless, non-Lambertian objects under unknown natural illumination (i.e., in the wild) remains challenging as correspondences cannot be established and the reflectance cannot be expressed in simple analytical…
Water caustics are commonly observed in seafloor imaging data from shallow-water areas. Traditional methods that remove caustic patterns from images often rely on 2D filtering or pre-training on an annotated dataset, hindering the…
Underwater image restoration is a challenging task because of water effects that increase dramatically with distance. This is worsened by lack of ground truth data of clean scenes without water. Diffusion priors have emerged as strong image…
We aim at predicting a complete and high-resolution depth map from incomplete, sparse and noisy depth measurements. Existing methods handle this problem either by exploiting various regularizations on the depth maps directly or resorting to…
The mapping of ocean floor layers is a current challenge for the oil industry. Existing solution methods involve mapping through seismic methods and wave inversion, which are complex and computationally expensive. The introduction of…
Underwater image enhancement is such an important low-level vision task with many applications that numerous algorithms have been proposed in recent years. These algorithms developed upon various assumptions demonstrate successes from…
Underwater surveys provide long-term data for informing management strategies, monitoring coral reef health, and estimating blue carbon stocks. Advances in broad-scale survey methods, such as robotic underwater vehicles, have increased the…
Images acquired by computer vision systems under low light conditions have multiple characteristics like high noise, lousy illumination, reflectance, and bad contrast, which make object detection tasks difficult. Much work has been done to…
In low-visibility marine environments characterized by turbidity and darkness, acoustic cameras serve as visual sensors capable of generating high-resolution 2D sonar images. However, acoustic camera images are interfered with by complex…