Related papers: Real-Time Dense 3D Mapping of Underwater Environme…
Real-time 3D reconstruction enables fast dense mapping of the environment which benefits numerous applications, such as navigation or live evaluation of an emergency. In contrast to most real-time capable approaches, our approach does not…
Advances in Unmanned Aerial Vehicle (UAV) opens venues for application such as tunnel inspection. Owing to its versatility to fly inside the tunnels, it can quickly identify defects and potential problems related to safety. However, long…
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…
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…
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…
In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…
An Autonomous Underwater Vehicle (AUV) should carry out complex tasks in a limited time interval. Since existing AUVs have limited battery capacity and restricted endurance, they should autonomously manage mission time and the resources to…
Autonomous Underwater Vehicles (AUVs) encounter significant energy, control and navigation challenges in complex underwater environments, particularly during close-proximity operations, such as launch and recovery (LAR), where fluid…
Underwater visual enhancement (UVE) and underwater 3D reconstruction pose significant challenges in computer vision and AI-based tasks due to complex imaging conditions in aquatic environments. Despite the development of numerous…
Realtime 4D reconstruction for dynamic scenes remains a crucial challenge for autonomous driving perception. Most existing methods rely on depth estimation through self-supervision or multi-modality sensor fusion. In this paper, we propose…
Underwater caves are challenging environments that are crucial for water resource management, and for our understanding of hydro-geology and history. Mapping underwater caves is a time-consuming, labor-intensive, and hazardous operation.…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
3D reconstruction can be used as a platform to monitor the performance of activities on construction site, such as construction progress monitoring, structure inspection and post-disaster rescue. Comparing to other sensors, RGB image has…
Small Unmanned Aerial Vehicles (UAVs) exhibit immense potential for navigating indoor and hard-to-reach areas, yet their significant constraints in payload and autonomy have largely prevented their use for complex tasks like high-quality…
Automatic reconstruction of 3D models from images using multi-view Structure-from-Motion methods has been one of the most fruitful outcomes of computer vision. These advances combined with the growing popularity of Micro Aerial Vehicles as…
Underwater Vehicles have become more sophisticated, driven by the off-shore sector and the scientific community's rapid advancements in underwater operations. Notably, many underwater tasks, including the assessment of subsea…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwater SLAM system that fuses a stereo…
Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered…
Coral reefs are fast-changing and complex ecosystems that are crucial to monitor and study. Biological hotspot detection can help coral reef managers prioritize limited resources for monitoring and intervention tasks. Here, we explore the…