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Coral reefs are among the most diverse ecosystems on our planet, and are depended on by hundreds of millions of people. Unfortunately, most coral reefs are existentially threatened by global climate change and local anthropogenic pressures.…
We present a novel method of integrating image-based measurements into a drone navigation system for the automated inspection of wind turbines. We take a model-based tracking approach, where a 3D skeleton representation of the turbine is…
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…
Scale ambiguity is a fundamental problem in monocular visual odometry. Typical solutions include loop closure detection and environment information mining. For applications like self-driving cars, loop closure is not always available, hence…
Dense depth estimation from a single image is a key problem in computer vision, with exciting applications in a multitude of robotic tasks. Initially viewed as a direct regression problem, requiring annotated labels as supervision at…
This paper proposes a fast and online method for jointly performing 3D multi-object tracking and pose estimation using multiple monocular cameras. Our algorithm requires only 2D bounding box and pose detections, eliminating the need for…
We address the problem of finding the current position and heading angle of an autonomous vehicle in real-time using a single camera. Compared to methods which require LiDARs and high definition (HD) 3D maps in real-time, the proposed…
Localization and navigation are basic robotic tasks requiring an accurate and up-to-date map to finish these tasks, with crowdsourced data to detect map changes posing an appealing solution. Collecting and processing crowdsourced data…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
Satellite altimetry, which measures water level with global coverage and high resolution, provides an unprecedented opportunity for a wide and refined understanding of the changing tides in the coastal area, but the sampling frequency is…
Geopositioning and tracking a moving boat at sea is a very challenging problem, requiring boat detection, matching and estimating its GPS location from imagery with no common features. The problem can be stated as follows: given imagery…
Depth information is the foundation of perception, essential for autonomous driving, robotics, and other source-constrained applications. Promptly obtaining accurate and efficient depth information allows for a rapid response in dynamic…
Accurate and efficient global ocean state estimation remains a grand challenge for Earth system science, hindered by the dual bottlenecks of computational scalability and degraded data fidelity in traditional data assimilation (DA) and deep…
This letter proposes a novel approach for compensating target height data in 2D seabed mosaicking for low-visibility underwater perception. Acoustic cameras are effective sensors for sensing the marine environments due to their…
Surveillance and surveying are two important applications of empirical research. A major part of terrain modelling is supported by photographic surveys which are used for capturing expansive natural surfaces using a wide range of sensors --…
The increasing use of 360 images across various domains has emphasized the need for robust depth estimation techniques tailored for omnidirectional images. However, obtaining large-scale labeled datasets for 360 depth estimation remains a…
In this paper, we present a monocular Simultaneous Localization and Mapping (SLAM) algorithm using high-level object and plane landmarks. The built map is denser, more compact and semantic meaningful compared to feature point based SLAM. We…
Controlling hand exoskeletons for assisting impaired patients in grasping tasks is challenging because it is difficult to infer user intent. We hypothesize that majority of daily grasping tasks fall into a small set of categories or modes…
Depth estimation is usually ill-posed and ambiguous for monocular camera-based 3D multi-person pose estimation. Since LiDAR can capture accurate depth information in long-range scenes, it can benefit both the global localization of…
Semantic segmentation in marine environments is crucial for the autonomous navigation of unmanned surface vessels (USVs) and coastal Earth Observation events such as oil spills. However, existing methods, often relying on deep CNNs and…