相关论文: The Next Best Underwater View

Many optical measurement techniques, such as light scattering from wavelength-scale particles or detecting motion from a surface with an optical lever, encode information in a complex radiation pattern. Extracting all available information…

Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…

Recently, a new underwater imaging formation model presented that the coefficients related to the direct and backscatter transmission signals are dependent on the type of water, camera specifications, water depth, and imaging range. This…

Underwater images play a crucial role in ocean research and marine environmental monitoring since they provide quality information about the ecosystem. However, the complex and remote nature of the environment results in poor image quality…

Motivated by the advances in 3D sensing technology and the spreading of low-cost robotic platforms, 3D object reconstruction has become a common task in many areas. Nevertheless, the selection of the optimal sensor pose that maximizes the…

Nowadays underwater vision systems are being widely applied in ocean research. However, the largest portion of the ocean - the deep sea - still remains mostly unexplored. Only relatively few image sets have been taken from the deep sea due…

In this paper, we present a new approach to visual servoing for robotics, referred to as 3D Move to See (3DMTS), based on the principle of finding the next best view using a 3D camera array and a robotic manipulator to obtain multiple…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…

We introduce a method that simultaneously learns to explore new large environments and to reconstruct them in 3D from color images only. This is closely related to the Next Best View problem (NBV), where one has to identify where to move…

Real-time visual feedback is essential for tetherless control of remotely operated vehicles, particularly during inspection and manipulation tasks. Though acoustic communication is the preferred choice for medium-range communication…

Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop…

Due to the absorption and scattering effects of the water, underwater images tend to suffer from many severe problems, such as low contrast, grayed out colors and blurring content. To improve the visual quality of underwater images, we…

We naturally step sideways or lean to see around the obstacle when our view is blocked, and recover a more informative observation. Enabling robots to make the same kind of viewpoint choice is critical for human-centered operations,…

Unwanted camera occlusions, such as debris, dust, rain-drops, and snow, can severely degrade the performance of computer-vision systems. Dynamic occlusions are particularly challenging because of the continuously changing pattern. Existing…

Underwater image enhancement is such an important low-level vision task with many applications that numerous algorithms have been proposed in recent years. These algorithms developed upon various assumptions demonstrate successes from…

Images acquired by computer vision systems under low light conditions have multiple characteristics like high noise, lousy illumination, reflectance, and bad contrast, which make object detection tasks difficult. Much work has been done to…

To assist underwater object detection for better performance, image enhancement technology is often used as a pre-processing step. However, most of the existing enhancement methods tend to pursue the visual quality of an image, instead of…

We can only allow human-robot-cooperation in a common work cell if the human integrity is guaranteed. A surveillance system with multiple cameras can detect collisions without contact to the human collaborator. A failure safe system needs…

In recent years, the underwater image formation model has found extensive use in the generation of synthetic underwater data. Although many approaches focus on scenes primarily affected by discoloration, they often overlook the model's…

We propose a method for guiding a photographer to rotate her/his smartphone camera to obtain an image that overlaps with another image of the same scene. The other image is taken by another photographer from a different viewpoint. Our…