Related papers: A Multi-Modal Approach Based on Large Vision Model…
Depth estimation is critical for any robotic system. In the past years estimation of depth from monocular images have shown great improvement, however, in the underwater environment results are still lagging behind due to appearance changes…
Infrared sensing is a core method for supporting unmanned systems, such as autonomous vehicles and drones. Recently, infrared sensors have been widely deployed on mobile and stationary platforms for detection and classification of objects…
Depth estimation is a fundamental task in 3D computer vision, crucial for applications such as 3D reconstruction, free-viewpoint rendering, robotics, autonomous driving, and AR/VR technologies. Traditional methods relying on hardware…
The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…
This paper proposes a method for the three-dimensional localization of an active aerial target by a single ground based sensor. The proposed method employs the time and frequency differences of arrival of the signal received directly from…
3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…
Underwater optical images inevitably suffer from various degradation factors such as blurring, low contrast, and color distortion, which hinder the accuracy of object detection tasks. Due to the lack of paired underwater/clean images, most…
We present in this paper a numerical method which computes the optimal trajectory of a underwater vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets, or/and…
Accurate depth information is crucial for enhancing the performance of multi-view 3D object detection. Despite the success of some existing multi-view 3D detectors utilizing pixel-wise depth supervision, they overlook two significant…
In this paper, a novel method for vision-aided navigation based on trifocal tensor is presented. The main goal of the proposed method is to provide position estimation in GPS-denied environments for vehicles equipped with a standard…
Object detection in remote sensing is a crucial computer vision task that has seen significant advancements with deep learning techniques. However, most existing works in this area focus on the use of generic object detection and do not…
Today ship hull inspection including the examination of the external coating, detection of defects, and other types of external degradation such as corrosion and marine growth is conducted underwater by means of Remotely Operated Vehicles…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
Underwater acoustic target recognition (UATR) and localization (UATL) play important roles in marine exploration. The highly noisy acoustic signal and time-frequency interference among various sources pose big challenges to this task. To…
Multi-object tracking (MOT) enables mobile robots to perform well-informed motion planning and navigation by localizing surrounding objects in 3D space and time. Existing methods rely on depth sensors (e.g., LiDAR) to detect and track…
Mobile robots require accurate and robust depth measurements to understand and interact with the environment. While existing sensing modalities address this problem to some extent, recent research on monocular depth estimation has leveraged…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
Navigation and trajectorial estimation of maritime vessels are contingent upon the context of positional accuracy. Even the smallest deviations in the estimation of a given vessel may result in detrimental consequences in terms of economic…
This paper analytically characterizes optimal sensor placements for target localization and tracking in 2D and 3D. Three types of sensors are considered: bearing-only, range-only, and received-signal-strength. The optimal placement problems…
Computer vision-based object detection is a key modality for advanced Detect-And-Avoid systems that allow for autonomous flight missions of UAVs. While standard object detection frameworks do not predict the actual depth of an object, this…