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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…
This paper as technology report is focusing on evaluation and performance about depth estimations based on lidar data and stereo images(front left and front right). The lidar 3d cloud data and stereo images are provided by ford. In…
Accurate monocular depth estimation is a fundamental component of vision-based perception systems in intelligent transportation applications. Despite recent progress, unsupervised monocular approaches still suffer from significant…
In this work, we address the problem of real-time dense depth estimation from monocular images for mobile underwater vehicles. We formulate a deep learning model that fuses sparse depth measurements from triangulated features to improve the…
In this paper, we introduce a deep multi-view stereo (MVS) system that jointly predicts depths, surface normals and per-view confidence maps. The key to our approach is a novel solver that iteratively solves for per-view depth map and…
Stereo depth estimation is of great interest for computer vision research. However, existing methods struggles to generalize and predict reliably in hazardous regions, such as large uniform regions. To overcome these limitations, we propose…
Robust Reversible Watermarking (RRW) enables perfect recovery of cover images and watermarks in lossless channels while ensuring robust watermark extraction in lossy channels. Existing RRW methods, mostly non-deep learning-based, face…
Stereo matching for inland waterways is one of the key technologies for the autonomous navigation of Unmanned Surface Vehicles (USVs), which involves dividing the stereo images into reference images and target images for pixel-level…
This study presents a technique for processing Stepfrequency continuous wave (SFCW) ground penetrating radar (GPR) data to detect tree roots. SFCW GPR is portable and enables precise control of energy levels, balancing depth and resolution…
Registration of optical and synthetic aperture radar (SAR) remote sensing images serves as a critical foundation for image fusion and visual navigation tasks. This task is particularly challenging because of their modal discrepancy,…
Accurate 3D reconstruction in degraded imaging conditions remains a key challenge in photogrammetry and neural rendering. In underwater environments, spatially varying visibility caused by scattering, attenuation, and sparse observations…
Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…
Underwater automatic target recognition (UATR) has been a challenging research topic in ocean engineering. Although deep learning brings opportunities for target recognition on land and in the air, underwater target recognition techniques…
We present StereoWorld, a camera-conditioned stereo world model that jointly learns appearance and binocular geometry for end-to-end stereo video generation.Unlike monocular RGB or RGBD approaches, StereoWorld operates exclusively within…
Depth Estimation plays a crucial role in recent applications in robotics, autonomous vehicles, and augmented reality. These scenarios commonly operate under constraints imposed by computational power. Stereo image pairs offer an effective…
Depth map estimation from images is an important task in robotic systems. Existing methods can be categorized into two groups including multi-view stereo and monocular depth estimation. The former requires cameras to have large overlapping…
Monocular depth estimation aims to recover the depth information of 3D scenes from 2D images. Recent work has made significant progress, but its reliance on large-scale datasets and complex decoders has limited its efficiency and…
Accurate real depth annotations are difficult to acquire, needing the use of special devices such as a LiDAR sensor. Self-supervised methods try to overcome this problem by processing video or stereo sequences, which may not always be…
In digital pathology, whole-slide images routinely exceed gigapixel resolution, making computationally intensive generative super-resolution (SR) impractical for routine deployment. We introduce CAFlow, an adaptive-depth single-step…
In the field of remote sensing, the scarcity of stereo-matched and particularly lack of accurate ground truth data often hinders the training of deep neural networks. The use of synthetically generated images as an alternative, alleviates…