Related papers: Feature Geometry for Stereo Sidescan and Forward-l…
This paper presents a preliminary study of an efficient object tracking approach, comparing the performance of two different 3D point cloud sensory sources: LiDAR and stereo cameras, which have significant price differences. In this…
Reliable feature correspondence between frames is a critical step in visual odometry (VO) and visual simultaneous localization and mapping (V-SLAM) algorithms. In comparison with existing VO and V-SLAM algorithms, semi-direct visual…
Development of optical technology has enabled imaging of two-dimensional (2D) sound fields. This acousto-optic sensing enables understanding of the interaction between sound and objects such as reflection and diffraction. Moreover, it is…
Polarization-based vision has gained increasing attention for providing richer physical cues beyond RGB images. While achieving single-shot capture is highly desirable for practical applications, existing Division-of-Focal-Plane (DoFP)…
We are working towards 3D reconstruction of indoor spaces using a pair of HDR cameras in a stereo vision configuration mounted on an indoor mobile floor robot that captures various textures and spatial features as 2D images and this data is…
Synthetic aperture imaging systems achieve constant azimuth resolution by coherently summating the observations acquired along the aperture path. At this aim, their locations have to be known with subwavelength accuracy. In underwater…
This research addresses the challenge of estimating bathymetry from imaging sonars where the state-of-the-art works have primarily relied on either supervised learning with ground-truth labels or surface rendering based on the Lambertian…
Computing the epipolar geometry between cameras with very different viewpoints is often problematic as matching points are hard to find. In these cases, it has been proposed to use information from dynamic objects in the scene for…
The area of computer vision is one of the most discussed topics amongst many scholars, and stereo matching is its most important sub fields. After the parallax map is transformed into a depth map, it can be applied to many intelligent…
Multi-View Stereo plays a pivotal role in civil engineering by facilitating 3D modeling, precise engineering surveying, quantitative analysis, as well as monitoring and maintenance. It serves as a valuable tool, offering high-precision and…
In the field of deep-sea exploration, sonar is presently the only efficient long-distance sensing device. The complicated underwater environment, such as noise interference, low target intensity or background dynamics, has brought many…
Environmental soundscapes convey substantial ecological and social information regarding urban environments; however, their potential remains largely untapped in large-scale geographic analysis. In this study, we investigate the extent to…
This paper introduces single-image geometric and appearance reconstruction from water reflection photography, i.e., images capturing direct and water-reflected real-world scenes. Water reflection offers an additional viewpoint to the direct…
The use of 3D and stereo imaging is rapidly increasing. Compression, transmission, and processing could degrade the quality of stereo images. Quality assessment of such images is different than their 2D counterparts. Metrics that represent…
Recent advances in computer vision have predominantly relied on data-driven approaches that leverage deep learning and large-scale datasets. Deep neural networks have achieved remarkable success in tasks such as stereo matching and…
This study explores the integration of Lidar, Synthetic Aperture Radar (SAR), and optical imagery through advanced artificial intelligence techniques for enhanced urban mapping. By fusing these diverse geospatial datasets, we aim to…
This work aims to estimate 6Dof (6D) object pose in background clutter. Considering the strong occlusion and background noise, we propose to utilize the spatial structure for better tackling this challenging task. Observing that the 3D mesh…
The images and sounds that we perceive undergo subtle but geometrically consistent changes as we rotate our heads. In this paper, we use these cues to solve a problem we call Sound Localization from Motion (SLfM): jointly estimating camera…
Navigating spatially varied and dynamic environments is one of the key tasks for autonomous agents. In this paper we present a novel method of navigating a mobile platform with one or multiple 3D-sonar sensors. Moving a mobile platform and…
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…