Related papers: Stereovision Image Processing for Planetary Naviga…
Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach…
The ability to recognize previously mapped locations is an essential feature for autonomous systems. Unstructured planetary-like environments pose a major challenge to these systems due to the similarity of the terrain. As a result, the…
Stereo Matching is one of the classical problems in computer vision for the extraction of 3D information but still controversial for accuracy and processing costs. The use of matching techniques and cost functions is crucial in the…
We present a real-time, non-learning depth estimation method that fuses Light Detection and Ranging (LiDAR) data with stereo camera input. Our approach comprises three key techniques: Semi-Global Matching (SGM) stereo with Discrete…
The ever-changing transparency of the Martian atmosphere hinders the determination of absolute surface colour from spacecraft images. While individual high-resolution images from low orbit reveal numerous colour details of the geology, the…
In this paper, we introduce Segmentation-Driven Deformation Multi-View Stereo (SD-MVS), a method that can effectively tackle challenges in 3D reconstruction of textureless areas. We are the first to adopt the Segment Anything Model (SAM) to…
Neural networks have shown great success in extracting geometric information from color images. Especially, monocular depth estimation networks are increasingly reliable in real-world scenes. In this work we investigate the applicability of…
Removing the aberrations introduced by the Point Spread Function (PSF) is a fundamental aspect of astronomical image processing. The presence of noise in observed images makes deconvolution a nontrivial task that necessitates the use of…
Tasks such as autonomous navigation, 3D reconstruction, and object recognition near the water surfaces are crucial in marine robotics applications. However, challenges arise due to dynamic disturbances, e.g., light reflections and…
Robust perception systems are essential for autonomous vehicle safety. To navigate in a complex urban environment, it is necessary precise sensors with reliable data. The task of understanding the surroundings is hard by itself; for…
Topographic models are essential for characterizing planetary surfaces and for inferring underlying geological processes. Nevertheless, meter-scale topographic data remain limited, which constrains detailed planetary investigations, even…
Accurate depth estimation is at the core of many applications in computer graphics, vision, and robotics. Current state-of-the-art monocular depth estimators, trained on extensive datasets, generalize well but lack 3D consistency needed for…
Synthetic Aperture Radar (SAR) imagery enables all-weather, day-and-night Earth observation; however, it remains difficult to interpret due to speckle noise and other intrinsic imaging artifacts. Sentinel-1 (S1) constitutes one of the most…
The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection.…
The reliable fusion of depth maps from multiple viewpoints has become an important problem in many 3D reconstruction pipelines. In this work, we investigate its impact on robotic bin-picking tasks such as 6D object pose estimation. The…
The MARS scanner is designed for the x-ray spectroscopic study of samples with the aid of computer tomography methods. Computer tomography allows the reconstruction of slices of an investigated sample using a set of shadow projections…
Task generation for underwater multi-robot inspections without prior knowledge of existing geometry can be achieved and optimized through examination of simultaneous localization and mapping (SLAM) data. By considering hardware parameters…
Currently, numerous remote sensing satellites provide a huge volume of diverse earth observation data. As these data show different features regarding resolution, accuracy, coverage, and spectral imaging ability, fusion techniques are…
Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…
The segmentation of medical images is a fundamental step in automated clinical decision support systems. Existing medical image segmentation methods based on supervised deep learning, however, remain problematic because of their reliance on…