相关论文: 3d sequential image mosaicing for underwater navig…

This paper presents an automated pipeline for processing multi-view satellite images to 3D digital surface models (DSM). The proposed pipeline performs automated geo-referencing and generates high-quality densely matched point clouds. In…

Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

3D multi-slab acquisitions are an appealing approach for diffusion MRI because they are compatible with the imaging regime delivering optimal SNR efficiency. In conventional 3D multi-slab imaging, shot-to-shot phase variations caused by…

In recent years, maritime traffic has increased, especially in seaborne trade. To ensure safety, security, and environmental protection, various systems have been deployed, often combining data for improved effectiveness. One key…

Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…

Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…

Deep learning object detection methods, like YOLOv5, are effective in identifying maritime vessels but often lack detailed information important for practical applications. In this paper, we addressed this problem by developing a technique…

We propose an optimization technique for 3-D underwater object modeling from 2-D forward-scan sonar images at known poses. A key contribution, for objects imaged in the proximity of the sea surface, is to resolve the multipath artifacts due…

Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…

Sustaining high fidelity and high throughput of perception tasks over vision sensor streams on edge devices remains a formidable challenge, especially given the continuing increase in image sizes (e.g., generated by 4K cameras) and…

Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…

Recent advancements in UAV technology have spurred interest in developing multi-UAV aerial surveying systems for use in confined environments where GNSS signals are blocked or jammed. This paper focuses airborne magnetic surveying…

Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…

Underwater image restoration has been a challenging problem for decades since the advent of underwater photography. Most solutions focus on shallow water scenarios, where the scene is uniformly illuminated by the sunlight. However, the vast…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

A new obstacle detection algorithm for unmanned surface vehicles (USVs) is presented. A state-of-the-art graphical model for semantic segmentation is extended to incorporate boat pitch and roll measurements from the on-board inertial…

Underwater image enhancement, as a pre-processing step to improve the accuracy of the following object detection task, has drawn considerable attention in the field of underwater navigation and ocean exploration. However, most of the…

Routine and repetitive infrastructure inspections present safety, efficiency, and consistency challenges as they are performed manually, often in challenging or hazardous environments. They can also introduce subjectivity and errors into…

High-resolution Optical Coherence Tomography (OCT) images are crucial for ophthalmology studies but are limited by their relatively narrow field of view (FoV). Image mosaicking is a technique for aligning multiple overlapping images to…