相关论文: 3d sequential image mosaicing for underwater navig…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
In dynamic scenes, both localization and mapping in visual SLAM face significant challenges. In recent years, numerous outstanding research works have proposed effective solutions for the localization problem. However, there has been a…
Autonomous navigation in 3D is a fundamental problem for autonomy. Despite major advancements in terrestrial and aerial settings due to improved range sensors including LiDAR, compact sensors with similar capabilities for underwater robots…
This paper designs a technique route to generate high-quality panoramic image with depth information, which involves two critical research hotspots: fusion of LiDAR and image data and image stitching. For the fusion of 3D points and image…
Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…
Embodied navigation demands comprehensive scene understanding and precise spatial reasoning. While image-text models excel at interpreting pixel-level color and lighting cues, 3D-text models capture volumetric structure and spatial…
This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
The acquisition of high-resolution retinal fundus images with a large field of view (FOV) is challenging due to technological, physiological and economic reasons. This paper proposes a fully automatic framework to reconstruct retinal images…
Semantic 3D mapping is one of the most important fields in robotics, and has been used in many applications, such as robot navigation, surveillance, and virtual reality. In general, semantic 3D mapping is mainly composed of 3D…
Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due to poor visibility and geometric constraints, while sonar is…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
This article presents an analysis of current state-of-the-art sensors and how these sensors work with several mapping algorithms for UAV (Unmanned Aerial Vehicle) applications, focusing on low-altitude and high-speed scenarios. A new…
This chapter describes how astronomical imaging survey data have become a vital part of modern astronomy, how these data are archived and then served to the astronomical community through on-line data access portals. The Virtual…
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…
We present an image blending pipeline, \textit{IBURD}, that creates realistic synthetic images to assist in the training of deep detectors for use on underwater autonomous vehicles (AUVs) for marine debris detection tasks. Specifically,…
The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the…
In this paper, we present the design and development of an undersea camera system. The goal of our system is to provide a 3D model of the undersea habitat in a long-term continuous manner. The most important feature of our system is the use…
Natural image stitching aims to create a single, natural-looking mosaic from overlapped images that capture the same 3D scene from different viewing positions. Challenges inevitably arise when the scene is non-planar and captured by…
Exploration is an important step in autonomous navigation of robotic systems. In this paper we introduce a series of enhancements for exploration algorithms in order to use them with vision-based simultaneous localization and mapping…
Existing underwater SLAM systems are difficult to work effectively in texture-sparse and geometrically degraded underwater environments, resulting in intermittent tracking and sparse mapping. Therefore, we present Water-DSLAM, a novel…