Related papers: Real-Scale Island Area and Coastline Estimation us…
The increasing population, thus financial interests, in coastal areas have increased the need to monitor coastal elevation and shoreline change. Though several resources exist to obtain this information, they often lack the required…
Oysters are a vital keystone species in coastal ecosystems, providing significant economic, environmental, and cultural benefits. As the importance of oysters grows, so does the relevance of autonomous systems for their detection and…
Underwater infrastructure requires frequent inspection and maintenance due to harsh marine conditions. Current reliance on human divers or remotely operated vehicles is limited by perceptual and operational challenges, especially around…
The field of monocular depth estimation is continually evolving with the advent of numerous innovative models and extensions. However, research on monocular depth estimation methods specifically for underwater scenes remains limited,…
Estimating ocean flow fields in 3D is a critical step in enabling the reliable operation of underwater gliders and other small, low-powered autonomous marine vehicles. Existing methods produce depth-averaged 2D layers arranged at discrete…
We present 360-DFPE, a sequential floor plan estimation method that directly takes 360-images as input without relying on active sensors or 3D information. Our approach leverages a loosely coupled integration between a monocular visual SLAM…
Monocular visual SLAM has become an attractive practical approach for robot localization and 3D environment mapping, since cameras are small, lightweight, inexpensive, and produce high-rate, high-resolution data streams. Although numerous…
Monocular Depth Estimation (MDE) is performed to produce 3D information that can be used in downstream tasks such as those related to on-board perception for Autonomous Vehicles (AVs) or driver assistance. Therefore, a relevant arising…
Most 3D reconstruction methods may only recover scene properties up to a global scale ambiguity. We present a novel approach to single view metrology that can recover the absolute scale of a scene represented by 3D heights of objects or…
Despite significant progress in monocular depth estimation in the wild, recent state-of-the-art methods cannot be used to recover accurate 3D scene shape due to an unknown depth shift induced by shift-invariant reconstruction losses used in…
Object localization, and more specifically object pose estimation, in large industrial spaces such as warehouses and production facilities, is essential for material flow operations. Traditional approaches rely on artificial artifacts…
This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…
We introduce a new dataset and algorithm for fast and efficient coastal distance calculations from Anywhere on Earth (AoE). Existing global coastal datasets are only available at coarse resolution (e.g. 1-4 km) which limits their utility.…
Traditional synchrophasor measurement-based islanding detection techniques have primarily relied on voltage angle measurements and/or their derivatives for successfully detecting islands. However, relatively high instrumentation channel…
Most visual odometry algorithm for a monocular camera focuses on points, either by feature matching, or direct alignment of pixel intensity, while ignoring a common but important geometry entity: edges. In this paper, we propose an odometry…
Surveying techniques such as Terrestrial Laser Scanner have recently been used to measure surface changes via 3D point cloud (PC) comparison. Two types of approaches have been pursued: 3D tracking of homologous parts of the surface to…
Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many…
Vision-based metric distance and area measurement remains challenging in large-scale outdoor environments due to long-range sensing, camera zoom, and unstable imaging conditions. This work studies planar metric measurement in a real-world…
This paper presents a metric global localization in the urban environment only with a monocular camera and the Google Street View database. We fully leverage the abundant sources from the Street View and benefits from its topo-metric…
In the last decades, the development of smartphones, drones, aerial patrols, and digital cameras enabled high-quality photographs available to large populations and, thus, provides an opportunity to collect massive data of the nature and…