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3D Gaussian Splatting is a powerful visual representation, providing high-quality and efficient 3D scene reconstruction, but it is crucially dependent on accurate camera poses typically obtained from computationally intensive processes like…

Although autonomous underwater vehicles promise the capability of marine ecosystem monitoring, their deployment is fundamentally limited by the difficulty of controlling vehicles under highly uncertain and non-stationary underwater…

Data acquisition in animal ecology is rapidly accelerating due to inexpensive and accessible sensors such as smartphones, drones, satellites, audio recorders and bio-logging devices. These new technologies and the data they generate hold…

Scientists studying deep ocean microbial ecosystems use limited numbers of sediment samples collected from the seafloor to characterize important life-sustaining biogeochemical cycles in the environment. Yet conducting fieldwork to sample…

Underwater surveys conducted using divers or robots equipped with customized camera payloads can generate a large number of images. Manual review of these images to extract ecological data is prohibitive in terms of time and cost, thus…

Research into dynamic 3D scene understanding has primarily focused on short-term change tracking from dense observations, while little attention has been paid to long-term changes with sparse observations. We address this gap with MoRE, a…

Nowadays underwater vision systems are being widely applied in ocean research. However, the largest portion of the ocean - the deep sea - still remains mostly unexplored. Only relatively few image sets have been taken from the deep sea due…

Oceanographers rely on visual analysis to interpret model simulations, identify events and phenomena, and track dynamic ocean processes. The ever increasing resolution and complexity of ocean data due to its dynamic nature and multivariate…

The recognition of coral species based on underwater texture images pose a significant difficulty for machine learning algorithms, due to the three following challenges embedded in the nature of this data: 1) datasets do not include…

In this paper, we propose a novel dense surfel mapping system that scales well in different environments with only CPU computation. Using a sparse SLAM system to estimate camera poses, the proposed mapping system can fuse intensity images…

Shallow water and coastal aquatic ecosystems such as coral reefs and seagrass meadows play a critical role in regulating and understanding Earth's changing climate and biodiversity. They also play an important role in protecting towns and…

Crown-of-Thorn Starfish (COTS) outbreaks are a major cause of coral loss on the Great Barrier Reef (GBR) and substantial surveillance and control programs are ongoing to manage COTS populations to ecologically sustainable levels. In this…

Effective monitoring of underwater ecosystems is crucial for tracking environmental changes, guiding conservation efforts, and ensuring long-term ecosystem health. However, automating underwater ecosystem management with robotic platforms…

Coral reefs are topologically complex environments with a large variation over small spatial-scales. The availability of high resolution data (metre-scale) to study these environments has increased rapidly such that many researchers are…

Marine biofouling on vessel hulls poses major ecological, economic, and biosecurity risks. Traditional survey methods rely on diver inspections, which are hazardous and limited in scalability. This work investigates automated classification…

Marine debris poses a significant ecological threat to birds, fish, and other animal life. Traditional methods for assessing debris accumulation involve labor-intensive and costly manual surveys. This study introduces a framework that…

Deep learning based localization and mapping has recently attracted significant attention. Instead of creating hand-designed algorithms through exploitation of physical models or geometric theories, deep learning based solutions provide an…

Oysters are the living vacuum cleaners of the oceans. There is an exponential decline in the oyster population due to over-harvesting. With the current development of the automation and AI, robots are becoming an integral part of the…

Recently, researchers in Machine Learning algorithms, Computer Vision scientists, engineers and others, showed a growing interest in 3D simulators as a mean to artificially create experimental settings that are very close to those in the…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…