相关论文: The Next Best Underwater View
This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…
In recent years, remarkable advancements have been achieved in the field of image generation, primarily driven by the escalating demand for high-quality outcomes across various image generation subtasks, such as inpainting, denoising, and…
Most commercially available Light Detection and Ranging (LiDAR)s measure the distances along a 2D section of the environment by sequentially sampling the free range along directions centered at the sensor's origin. When the sensor moves…
The basic idea behind evolutionary robotics is to evolve a set of neural controllers for a particular task at hand. It involves use of various input parameters such as infrared sensors, light sensors and vision based methods. This paper…
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…
We introduce local matching stability and furthest matchable frame as quantitative measures for evaluating the success of underwater image enhancement. This enhancement process addresses visual degradation caused by light absorption,…
This work aims at generating a model of the ocean surface and its dynamics from one or more video cameras. The idea is to model wave patterns from video as a first step towards a larger system of photogrammetric monitoring of marine…
The accurate visual tracking of a moving object is a human fundamental skill that allows to reduce the relative slip and instability of the object's image on the retina, thus granting a stable, high-quality vision. In order to optimize…
We develop a framework for rendering photographic images, taking into account display limitations, so as to optimize perceptual similarity between the rendered image and the original scene. We formulate this as a constrained optimization…
Underwater image enhancement is such an important vision task due to its significance in marine engineering and aquatic robot. It is usually work as a pre-processing step to improve the performance of high level vision tasks such as…
Actively planning sensor views during object reconstruction is crucial for autonomous mobile robots. An effective method should be able to strike a balance between accuracy and efficiency. In this paper, we propose a seamless integration of…
Scene reconstruction is an essential capability for underwater robots navigating in close proximity to structures. Monocular vision-based reconstruction methods are unreliable in turbid waters and lack depth scale information. Sonars are…
Forward-looking sonar can capture high resolution images of underwater scenes, but their interpretation is complex. Generic object detection in such images has not been solved, specially in cases of small and unknown objects. In comparison,…
Forecasting a typical object's future motion is a critical task for interpreting and interacting with dynamic environments in computer vision. Event-based sensors, which could capture changes in the scene with exceptional temporal…
Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use…
Diffusion models generate images with an unprecedented level of quality, but how can we freely rearrange image layouts? Recent works generate controllable scenes via learning spatially disentangled latent codes, but these methods do not…
Recording and identifying faint objects through atmospheric scattering media by an optical system are fundamentally interesting and technologically important. In this work, we introduce a comprehensive model that incorporates contributions…
Taking an image of an object is at its core a lossy process. The rich information about the three-dimensional structure of the world is flattened to an image plane and decisions such as viewpoint and camera parameters are final and not…
In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…
Underwater robot perception is crucial in scientific subsea exploration and commercial operations. The key challenges include non-uniform lighting and poor visibility in turbid environments. High-frequency forward-look sonar cameras address…