Related papers: Geometric Correction of Side-Scan Sonar Images wit…
Underwater environments pose significant challenges due to the selective absorption and scattering of light by water, which affects image clarity, contrast, and color fidelity. To overcome these, we introduce OceanLens, a method that models…
This paper introduces a modular, non-deep learning method for filtering and refining sparse correspondences in image matching. Assuming that motion flow within the scene can be approximated by local homography transformations, matches are…
Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due to poor visibility and geometric constraints, while sonar is…
Circular Synthetic Aperture Sonar (CSAS) provides a 360{\deg} azimuth view of the seabed, surpassing the limited aperture and mono-view image of conventional side-scan SAS. This makes CSAS a valuable tool for target recognition in mine…
In this paper, we address the challenging problem of data association for underwater SLAM through a novel method for sonar image correspondence using learned features. We introduce SONIC (SONar Image Correspondence), a pose-supervised…
Despite the increasing prevalence of rotating-style capture (e.g., surveillance cameras), conventional stereo rectification techniques frequently fail due to the rotation-dominant motion and small baseline between views. In this paper, we…
Three-dimensional reconstruction in scenes with extreme depth variations remains challenging due to inconsistent supervisory signals between near-field and far-field regions. Existing methods fail to simultaneously address inaccurate depth…
Observations of seabed texture with synthetic aperture sonar are dependent upon several factors. In this work, we focus on collection geometry with respect to isotropic and anisotropic textures. The low grazing angle of the collection…
Assessing the quality of single image super-resolution (SISR) results remains an open methodological problem. Common full-reference metrics (PSNR, SSIM, LPIPS) do not explicitly evaluate the preservation of the geometric structure of…
Underwater vision suffers from severe effects due to selective attenuation and scattering when light propagates through water. Such degradation not only affects the quality of underwater images but limits the ability of vision tasks.…
We present a novel method for single image depth estimation using surface normal constraints. Existing depth estimation methods either suffer from the lack of geometric constraints, or are limited to the difficulty of reliably capturing…
Most ultrasound imaging techniques necessitate the fundamental step of converting temporal signals received from transducer elements into a spatial echogenecity map. This beamforming (BF) step requires the knowledge of speed-of-sound (SoS)…
Mars exploration requires precise and reliable terrain models to ensure safe rover navigation across its unpredictable and often hazardous landscapes. Stereoscopic vision serves a critical role in the rover's perception, allowing scene…
Establishing consistent and dense correspondences across multiple images is crucial for Structure from Motion (SfM) systems. Significant view changes, such as air-to-ground with very sparse view overlap, pose an even greater challenge to…
Super-resolution techniques are crucial in improving image granularity, particularly in complex urban scenes, where preserving geometric structures is vital for data-informed cultural heritage applications. In this paper, we propose a city…
Synthetic aperture sonar (SAS) requires precise positional and environmental information to produce well-focused output during the image reconstruction step. However, errors in these measurements are commonly present resulting in defocused…
Co-registration of multimodal remote sensing images is still an ongoing challenge because of nonlinear radiometric differences (NRD) and significant geometric distortions (e.g., scale and rotation changes) between these images. In this…
Score distillation sampling (SDS), the methodology in which the score from pretrained 2D diffusion models is distilled into 3D representation, has recently brought significant advancements in text-to-3D generation task. However, this…
Lossy compression algorithms aim to compactly encode images in a way which enables to restore them with minimal error. We show that a key limitation of existing algorithms is that they rely on error measures that are extremely sensitive to…
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…