Related papers: Mesh-based Photorealistic and Real-time 3D Mapping…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…
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…
This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challenging as they combine 3D motion in the presence of external…
We introduce local matching stability and furthest matchable frame as quantitative measures for evaluating the success of underwater image enhancement. This enhancement process addresses visual degradation caused by light absorption,…
Autonomous underwater vehicles (AUVs) rely on a variety of sensors - acoustic, inertial and visual - for intelligent decision making. Due to its non-intrusive, passive nature, and high information content, vision is an attractive sensing…
Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…
Despite impressive results achieved by many on-land visual mapping algorithms in the recent decades, transferring these methods from land to the deep sea remains a challenge due to harsh environmental conditions. Images captured by…
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…
This paper presents OpenREALM, a real-time mapping framework for Unmanned Aerial Vehicles (UAVs). A camera attached to the onboard computer of a moving UAV is utilized to acquire high resolution image mosaics of a targeted area of interest.…
Although fully autonomous mapping methods are becoming more and more common and reliable, still the human operator is regularly employed in many 3D surveying missions. In a number of underwater applications, divers or pilots of remotely…
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 monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle to produce maps with high-fidelity rendering. In this paper,…
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…
In the era of autonomous driving, urban mapping represents a core step to let vehicles interact with the urban context. Successful mapping algorithms have been proposed in the last decade building the map leveraging on data from a single…
Over the past decade, there has been a significant increase in the use of Unmanned Aerial Vehicles (UAVs) to support a wide variety of missions, such as remote surveillance, vehicle tracking, and object detection. For problems involving…
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…
Classic vision-based navigation solutions, which are utilized in algorithms such as Simultaneous Localization and Mapping (SLAM), usually fail to work underwater when the water is murky and the quality of the recorded images is low. That is…
We present a real-time dense geometric mapping algorithm for large-scale environments. Unlike existing methods which use pinhole cameras, our implementation is based on fisheye cameras which have larger field of view and benefit some other…
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…