Related papers: SONIC: Sonar Image Correspondence using Pose Super…
Symmetric objects are common in daily life and industry, yet their inherent orientation ambiguities that impede the training of deep learning networks for pose estimation are rarely discussed in the literature. To cope with these…
Various autonomous applications rely on recognizing specific known landmarks in their environment. For example, Simultaneous Localization And Mapping (SLAM) is an important technique that lays the foundation for many common tasks, such as…
Underwater environments pose significant challenges due to the selective absorption and scattering of light by water, which affects image clarity, contrast, and color fidelity. To overcome these, we introduce OceanLens, a method that models…
This paper proposes SOLVR, a unified pipeline for learning based LiDAR-Visual re-localisation which performs place recognition and 6-DoF registration across sensor modalities. We propose a strategy to align the input sensor modalities by…
Salient object detection (SOD) has achieved substantial progress in recent years. In practical scenarios, compressed images (CI) serve as the primary medium for data transmission and storage. However, scant attention has been directed…
Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…
Compressive sensing (CS) reconstructs images from sub-Nyquist measurements by solving a sparsity-regularized inverse problem. Traditional CS solvers use iterative optimizers with hand crafted sparsifiers, while early data-driven methods…
Underwater robots typically rely on acoustic sensors like sonar to perceive their surroundings. However, these sensors are often inundated with multiple sources and types of noise, which makes using raw data for any meaningful inference…
Current pandemic has caused the medical system to operate under high load. To relieve it, robots with high autonomy can be used to effectively execute contactless operations in hospitals and reduce cross-infection between medical staff and…
Side-scan sonar (SSS) imagery is widely used for seafloor mapping and underwater remote sensing, yet the measured intensity is strongly influenced by seabed reflectivity, terrain elevation, and acoustic path loss. This entanglement makes…
We propose a novel method to generate underwater object imagery that is acoustically compliant with that generated by side-scan sonar using the Unreal Engine. We describe the process to develop, tune, and generate imagery to provide…
Correlated photon pairs, carrying strong quantum correlations, have been harnessed to bring quantum advantages to various fields from biological imaging to range finding. Such inherent non-classical properties support extracting more valid…
Shape and pose estimation is a critical perception problem for a self-driving car to fully understand its surrounding environment. One fundamental challenge in solving this problem is the incomplete sensor signal (e.g., LiDAR scans),…
Dense correspondence across semantically related images has been extensively studied, but still faces two challenges: 1) large variations in appearance, scale and pose exist even for objects from the same category, and 2) labeling…
Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…
This paper addresses the problem of establishing semantic correspondences between images depicting different instances of the same object or scene category. Previous approaches focus on either combining a spatial regularizer with…
Detecting novel objects without class information is not trivial, as it is difficult to generalize from a small training set. This is an interesting problem for underwater robotics, as modeling marine objects is inherently more difficult in…
In this paper, we present some high level information fusion approaches for numeric and symbolic data. We study the interest of such method particularly for classifier fusion. A comparative study is made in a context of sea bed…
This study explores the potential of the Ping 360 sonar device, primarily used for navigation, in detecting complex underwater obstacles. The key motivation behind this research is the device's affordability and open-source nature, offering…
By leveraging the blur-noise trade-off, imaging with non-uniform exposures largely extends the image acquisition flexibility in harsh environments. However, the limitation of conventional cameras in perceiving intra-frame dynamic…