Related papers: Feature Geometry for Stereo Sidescan and Forward-l…
Jointly estimating hand and object shape facilitates the grasping task in human-to-robot handovers. However, relying on hand-crafted prior knowledge about the geometric structure of the object fails when generalising to unseen objects, and…
Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…
Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone. In this paper, we propose a joint forward backward visual odometry framework by combining…
Synthetic aperture sonar (SAS) measures a scene from multiple views in order to increase the resolution of reconstructed imagery. Image reconstruction methods for SAS coherently combine measurements to focus acoustic energy onto the scene.…
Binocular stereo vision is an important branch of machine vision, which imitates the human eye and matches the left and right images captured by the camera based on epipolar constraints. The matched disparity map can be calculated according…
This paper details a new method to recognize and detect underwater objects in real-time sidescan sonar data imagery streams, with case-studies of applications for underwater archeology, and ghost fishing gear retrieval. We first synthesize…
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…
Binaural stereo audio is recorded by imitating the way the human ear receives sound, which provides people with an immersive listening experience. Existing approaches leverage autoencoders and directly exploit visual spatial information to…
In this paper we discuss the potential and challenges regarding SAR-optical stereogrammetry for urban areas, using very-high-resolution (VHR) remote sensing imagery. Since we do this mainly from a geometrical point of view, we first analyze…
Local feature matching is challenging due to textureless and repetitive patterns. Existing methods focus on using appearance features and global interaction and matching, while the importance of geometry priors in local feature matching has…
We introduce a new technique for imaging the polarized radio sky using interferometric data. The new approach, which we call Faraday synthesis, combines aperture and rotation measure synthesis imaging and deconvolution into a single…
We introduce visual hints expansion for guiding stereo matching to improve generalization. Our work is motivated by the robustness of Visual Inertial Odometry (VIO) in computer vision and robotics, where a sparse and unevenly distributed…
We present a technique for dense 3D reconstruction of objects using an imaging sonar, also known as forward-looking sonar (FLS). Compared to previous methods that model the scene geometry as point clouds or volumetric grids, we represent…
This paper proposes a method that combines the style transfer technique and the learned descriptor to enhance the matching performances of underwater sonar images. In the field of underwater vision, sonar is currently the most effective…
Combining synthetic aperture sonar (SAS) imagery with optical images for underwater object classification has the potential to overcome challenges such as water clarity, the stability of the optical image analysis platform, and strong…
We innovate in stereo vision by explicitly providing analytical 3D surface models as viewed by a cyclopean eye model that incorporate depth discontinuities and occlusions. This geometrical foundation combined with learned stereo features…
Transparent and specular objects are frequently encountered in daily life, factories, and laboratories. However, due to the unique optical properties, the depth information on these objects is usually incomplete and inaccurate, which poses…
This paper describes a multimodal vision sensor that integrates three types of cameras, including a stereo camera, a polarization camera and a panoramic camera. Each sensor provides a specific dimension of information: the stereo camera…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a mapping representation that accurately captures scene geometry…