相关论文: Fusing Concurrent Orthogonal Wide-aperture Sonar I…

Reconstructing dense, volumetric models of real-world 3D scenes is important for many tasks, but capturing large scenes can take significant time, and the risk of transient changes to the scene goes up as the capture time increases. These…

This paper details a new method to recognize and detect underwater objects in real-time sidescan sonar data imagery streams, with case-studies of applications for underwater archeology, and ghost fishing gear retrieval. We first synthesize…

Differentiable 3D-Gaussian splatting (GS) is emerging as a prominent technique in computer vision and graphics for reconstructing 3D scenes. GS represents a scene as a set of 3D Gaussians with varying opacities and employs a computationally…

We address the problem of reconstructing 3D surfaces from depth and surface normal maps acquired by a sensor system based on a single perspective camera. Depth and normal maps can be obtained through techniques such as structured-light…

Generating 3D point cloud (PC) data from noisy sonar measurements is a problem that has potential applications for bathymetry mapping, artificial object inspection, mapping of aquatic plants and fauna as well as underwater navigation and…

In this paper, we propose a novel technique to reconstruct 3D surface of an underwater object using stereo images. Reconstructing the 3D surface of an underwater object is really a challenging task due to degraded quality of underwater…

We propose a novel data-driven approach for high-resolution bathymetric reconstruction from sidescan. Sidescan sonar (SSS) intensities as a function of range do contain some information about the slope of the seabed. However, that…

Real-time multi-view point cloud reconstruction is a core problem in 3D vision and immersive perception, with wide applications in VR, AR, robotic navigation, digital twins, and computer interaction. Despite advances in multi-camera systems…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

3D urban reconstruction of buildings from remotely sensed imagery has drawn significant attention during the past two decades. While aerial imagery and LiDAR provide higher resolution, satellite imagery is cheaper and more efficient to…

Reconstruction of a continuous surface of two-dimensional manifold from its raw, discrete point cloud observation is a long-standing problem. The problem is technically ill-posed, and becomes more difficult considering that various sensing…

Recent advances in differentiable rendering, which allow calculating the gradients of 2D pixel values with respect to 3D object models, can be applied to estimation of the model parameters by gradient-based optimization with only 2D…

In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection…

Cross-modal 3D retrieval is a critical yet challenging task, aiming to achieve bi-directional retrieval between 3D and text modalities. Current methods predominantly rely on a certain 3D representation (e.g., point cloud), with few…

Real-time satellite imaging has a central role in monitoring, detecting and estimating the intensity of key natural phenomena such as floods, earthquakes, etc. One important constraint of satellite imaging is the trade-off between…

3D dense reconstruction refers to the process of obtaining the complete shape and texture features of 3D objects from 2D planar images. 3D reconstruction is an important and extensively studied problem, but it is far from being solved. This…

This paper shows that accurate underwater 3D shape reconstruction is possible using a single camera, observing a target through a refractive interface. We provide unified reconstruction techniques for a variety of scenarios such as single…

We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…

While the keypoint-based maps created by sparse monocular simultaneous localisation and mapping (SLAM) systems are useful for camera tracking, dense 3D reconstructions may be desired for many robotic tasks. Solutions involving depth cameras…

Recovering 3D geometry of underwater scenes is challenging because of non-linear refraction of light at the water-air interface caused by the camera housing. We present a light field-based approach that leverages properties of angular…