相关论文: The Next Best Underwater View

We propose a new model, together with advanced optimization, to separate a thick scattering media layer from a single natural image. It is able to handle challenging underwater scenes and images taken in fog and sandstorm, both of which are…

This paper present the mathematical fundaments and experimental study of an algorithm used to find the optimal position for the camera lens to obtain a maximum of details. This information can be further applied to a appropriate system to…

The Next Best View (NBV) problem is a pivotal challenge in 3D robotic scanning, with the potential to significantly improve the efficiency of object capture and reconstruction. Existing methods for determining the NBV often overlook view…

Next Best View computation (NBV) is a long-standing problem in robotics, and consists in identifying the next most informative sensor position(s) for reconstructing a 3D object or scene efficiently and accurately. Like most current methods,…

Small object detection (SOD) in optical images and videos is a challenging problem that even state-of-the-art generic object detection methods fail to accurately localize and identify such objects. Typically, small objects appear in…

When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…

3D reconstruction and relighting of objects made from scattering materials present a significant challenge due to the complex light transport beneath the surface. 3D Gaussian Splatting introduced high-quality novel view synthesis at…

We present a robotic system capable of navigating autonomously by following a line and taking good quality pictures of people. When a group of people are detected, the robot rotates towards them and then back to line while continuously…

Recovering scene color from images captured in scattering media is a fundamental inverse problem in optical imaging. Yet the problem is intrinsically ill-posed as multiple solutions can explain the same observation, and prediction error…

The majority of Earth's surface lies deep in the oceans, where no surface light reaches. Robots diving down to great depths must bring light sources that create moving illumination patterns in the darkness, such that the same 3D point…

Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…

Binocular stereo vision is an important branch of machine vision, which imitates the human eye and matches the left and right images captured by the camera based on epipolar constraints. The matched disparity map can be calculated according…

In this paper, we address the problem of autonomous exploration of unknown environments with an aerial robot equipped with a sensory set that produces large point clouds, such as LiDARs. The main goal is to gradually explore an area while…

An understanding of the nature of objects could help robots to solve both high-level abstract tasks and improve performance at lower-level concrete tasks. Although deep learning has facilitated progress in image understanding, a robot's…

Depth estimation is critical for any robotic system. In the past years estimation of depth from monocular images have shown great improvement, however, in the underwater environment results are still lagging behind due to appearance changes…

Aiming at the problems of color distortion, blur and excessive noise of underwater image, an underwater image enhancement algorithm based on structure-texture reconstruction is proposed. Firstly, the color equalization of the degraded image…

Low light images captured in a non-uniform illumination environment usually are degraded with the scene depth and the corresponding environment lights. This degradation results in severe object information loss in the degraded image…

This paper primarily focuses on figuring out the best array of cameras, or visual sensors, so that such a placement enables the maximum utilization of these visual sensors. Maximizing the utilization of these cameras can convert to another…

The presentation and analysis of image data from a single viewpoint are often not sufficient to solve a task. Several viewpoints are necessary to obtain more information. The next-best-view problem attempts to find the optimal viewpoint…

Images captured in challenging environments often experience various forms of degradation, including noise, color cast, blur, and light scattering. These effects significantly reduce image quality, hindering their applicability in…