相关论文: Real-time Model-based Image Color Correction for U…
Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…
Homographies -- a mathematical formalism for relating image points across different camera viewpoints -- are at the foundations of geometric methods in computer vision and are used in geometric camera calibration, image registration, and…
We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…
Underwater scenes intrinsically involve degradation problems owing to heterogeneous ocean elements. Prevailing underwater image enhancement (UIE) methods stick to straightforward feature modeling to learn the mapping function, which leads…
Underwater images are typically characterized by color cast, haze, blurring, and uneven illumination due to the selective absorption and scattering when light propagates through the water, which limits their practical applications.…
We consider the problem of robotic grasping using depth + RGB information sampling from a real sensor. we design an encoder-decoder neural network to predict grasp policy in real time. This method can fuse the advantage of depth image and…
This paper introduces mathematical models of \sensors\ for mobile robots based on visibility. Serving a purpose similar to the pinhole camera model for computer vision, the introduced models are expected to provide a useful, idealized…
When employing underwater vehicles for the autonomous inspection of assets, it is crucial to consider and assess the water conditions. These conditions significantly impact visibility and directly affect robotic operations. Turbidity can…
We introduce a novel method to automatically adjust camera exposure for image processing and computer vision applications on mobile robot platforms. Because most image processing algorithms rely heavily on low-level image features that are…
The underwater images usually suffers from non-uniform lighting, low contrast, blur and diminished colors. In this paper, we proposed an image based preprocessing technique to enhance the quality of the underwater images. The proposed…
Underwater robotic manipulation remains challenging because lighting variation, color attenuation, scattering, and reduced visibility can severely degrade visuomotor policies. We present Bi-AQUA, the first underwater bilateral control-based…
This paper addresses the problem of tracking in-plane waves from image sequences using periodic surface patterns. Wave-induced deformation is modeled as a spatial phase modulation of a periodic carrier. We propose ADOPT (Analytical…
Underwater object detection faces the problem of underwater image degradation, which affects the performance of the detector. Underwater object detection methods based on noise reduction and image enhancement usually do not provide images…
Most algorithms in 3D computer vision rely on the pinhole camera model because of its simplicity, whereas virtually all imaging devices introduce certain amount of nonlinear distortion, where the radial distortion is the most severe part.…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
Color-depth cameras (RGB-D cameras) have become the primary sensors in most robotics systems, from service robotics to industrial robotics applications. Typical consumer-grade RGB-D cameras are provided with a coarse intrinsic and extrinsic…
The determination of accurate bathymetric information is a key element for near offshore activities, hydrological studies such as coastal engineering applications, sedimentary processes, hydrographic surveying as well as archaeological…
Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…
In recent years, with the continuous development of the marine industry, underwater image enhancement has attracted plenty of attention. Unfortunately, the propagation of light in water will be absorbed by water bodies and scattered by…
Learning the dynamics of robots from data can help achieve more accurate tracking controllers, or aid their navigation algorithms. However, when the actual dynamics of the robots change due to external conditions, on-line adaptation of…