Related papers: Performance Assessment of Feature Detection Method…
Selecting the most suitable local invariant feature detector for a particular application has rendered the task of evaluating feature detectors a critical issue in vision research. No state-of-the-art image feature detector works…
Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…
2D forward-looking sonar is a crucial sensor for underwater robotic perception. A well-known problem in this field is estimating missing information in the elevation direction during sonar imaging. There are demands to estimate 3D…
In low-visibility marine environments characterized by turbidity and darkness, acoustic cameras serve as visual sensors capable of generating high-resolution 2D sonar images. However, acoustic camera images are interfered with by complex…
The purpose of this study is to provide a detailed performance comparison of feature detector/descriptor methods, particularly when their various combinations are used for image-matching. The localization experiments of a mobile robot in an…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
Underwater object detection using sonar imagery has become a critical and rapidly evolving research domain within marine technology. However, sonar images are characterized by lower resolution and sparser features compared to optical…
Salient object detection (SOD) is a crucial and preliminary task for many computer vision applications, which have made progress with deep CNNs. Most of the existing methods mainly rely on the RGB information to distinguish the salient…
Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…
In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection…
Salient object detection (SOD), which simulates the human visual perception system to locate the most attractive object(s) in a scene, has been widely applied to various computer vision tasks. Now, with the advent of depth sensors, depth…
Salient object detection (SOD), which aims to identify and locate the most salient pixels or regions in images, has been attracting more and more interest due to its various real-world applications. However, this vision task is quite…
Transformers have rapidly gained popularity in computer vision, especially in the field of object recognition and detection. Upon examining the outcomes of state-of-the-art object detection methods, we noticed that transformers consistently…
RGB-D salient object detection (SOD) is usually formulated as a problem of classification or regression over two modalities, i.e., RGB and depth. Hence, effective RGBD feature modeling and multi-modal feature fusion both play a vital role…
Application of underwater robots are on the rise, most of them are dependent on sonar for underwater vision, but the lack of strong perception capabilities limits them in this task. An important issue in sonar perception is matching image…
Scene reconstruction is an essential capability for underwater robots navigating in close proximity to structures. Monocular vision-based reconstruction methods are unreliable in turbid waters and lack depth scale information. Sonars are…
In automated driving, object detection is crucial for perceiving the environment. Although deep learning-based detectors offer high performance, their black-box nature complicates safety assurance. We propose a novel methodology to analyze…
Synthetic Aperture Sonar (SAS) imaging has become a crucial technology for underwater exploration because of its unique ability to maintain resolution at increasing ranges, a characteristic absent in conventional sonar techniques. However,…
Underwater image enhancement is such an important low-level vision task with many applications that numerous algorithms have been proposed in recent years. These algorithms developed upon various assumptions demonstrate successes from…
Generating 3D point cloud (PC) data from noisy sonar measurements is a problem that has potential applications for bathymetry mapping, artificial object inspection, mapping of aquatic plants and fauna as well as underwater navigation and…