Related papers: 3d sequential image mosaicing for underwater navig…
3D reconstruction plays an increasingly important role in modern photogrammetric systems. Conventional satellite or aerial-based remote sensing (RS) platforms can provide the necessary data sources for the 3D reconstruction of large-scale…
In this paper we propose a novel approach aimed at recovering the 3D position of an UUV from UAV imagery in shallow-water environments. Through combination of UAV and UUV measurements, we show that our method can be utilized as an accurate…
UAV missions often require specific geometric constraints to be satisfied between ground locations and the vehicle location. Such requirements are typical for contexts where line-of-sight must be maintained between the vehicle location and…
RGBD images, combining high-resolution color and lower-resolution depth from various types of depth sensors, are increasingly common. One can significantly improve the resolution of depth maps by taking advantage of color information; deep…
Object tracking in inland waterways plays a crucial role in safe and cost-effective applications, including waterborne transportation, sightseeing tours, environmental monitoring and surface rescue. Our Unmanned Surface Vehicle (USV),…
Hyperspectral imaging is one of the most promising techniques for intraoperative tissue characterisation. Snapshot mosaic cameras, which can capture hyperspectral data in a single exposure, have the potential to make a real-time…
We present a scalable combined localization infrastructure deployment and task planning algorithm for underwater assembly. Infrastructure is autonomously modified to suit the needs of manipulation tasks based on an uncertainty model on the…
Accurate 3D reconstruction from unstructured image collections is a key requirement in applications such as robotics, mapping, and scene understanding. While global Structure from Motion (SfM) techniques rely on full image connectivity and…
This paper presents the use of multi-sensor measurement system to guide autonomous mobile robot in the house. The system allows the 3D image acquisition to global mapping, and algorithms to reduce the dimensionality of images to 2D global…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
Metasurfaces -- ultrathin structures composed of subwavelength optical elements -- have revolutionized light manipulation by enabling precise control over electromagnetic waves' amplitude, phase, polarization, and spectral properties.…
Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…
Critical maritime infrastructure increasingly demands situational awareness both above and below the surface, yet existing ''seabed-to-sky'' mapping pipelines either rely on GNSS (vulnerable to shadowing/spoofing) or expensive bathymetric…
This paper presents a novel approach to image-goal navigation by integrating 3D Gaussian Splatting (3DGS) with Visual Navigation Models (VNMs), a method we refer to as GSplatVNM. VNMs offer a promising paradigm for image-goal navigation by…
4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…
Aided inertial navigation system (INS), typically consisting of an inertial measurement unit (IMU) and an exteroceptive sensor, has been widely accepted as a feasible solution for navigation. Compared with vision-aided and LiDAR-aided INS,…
One of the major challenges in Minimally Invasive Surgery (MIS) such as laparoscopy is the lack of depth perception. In recent years, laparoscopic scene tracking and surface reconstruction has been a focus of investigation to provide rich…
Satellite imaging has a central role in monitoring, detecting and estimating the intensity of key natural phenomena. One important feature of satellite images is the trade-off between spatial/spectral resolution and their revisiting time, a…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
Seismic imaging is the numerical process of creating a volumetric representation of the subsurface geological structures from elastic waves recorded at the surface of the Earth. As such, it is widely utilized in the energy and construction…