相关论文: FLSea: Underwater Visual-Inertial and Stereo-Visio…
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…
Thousands of hours of marine video data are collected annually from remotely operated vehicles (ROVs) and other underwater assets. However, current manual methods of analysis impede the full utilization of collected data for real time…
Accurate image-based bathymetric mapping in shallow waters remains challenging due to the complex optical distortions such as wave induced patterns, scattering and sunglint, introduced by the dynamic water surface, the water column…
We present a visual-inertial depth estimation pipeline that integrates monocular depth estimation and visual-inertial odometry to produce dense depth estimates with metric scale. Our approach performs global scale and shift alignment…
Depth estimation is a critical technology in autonomous driving, and multi-camera systems are often used to achieve a 360$^\circ$ perception. These 360$^\circ$ camera sets often have limited or low-quality overlap regions, making multi-view…
Maritime object detection is critical for the safe navigation of unmanned surface vessels (USVs), requiring accurate recognition of obstacles from small buoys to large vessels. Real-time detection is challenging due to long distances, small…
Most existing algorithms for depth estimation from single monocular images need large quantities of metric groundtruth depths for supervised learning. We show that relative depth can be an informative cue for metric depth estimation and can…
Underwater object detection (UOD) is vital to diverse marine applications, including oceanographic research, underwater robotics, and marine conservation. However, UOD faces numerous challenges that compromise its performance. Over the…
Precise autonomous navigation remains a substantial challenge to all underwater platforms. Inertial Measurement Units (IMU) and Doppler Velocity Logs (DVL) have complementary characteristics and are promising sensors that could enable fully…
Effective analysis of unusual domain specific video collections represents an important practical problem, where state-of-the-art general purpose models still face limitations. Hence, it is desirable to design benchmark datasets that…
In this paper, we present a comprehensive investigation of the challenges of Monocular Visual Simultaneous Localization and Mapping (vSLAM) methods for underwater robots. While significant progress has been made in state estimation methods…
Given the limitations of satellite orbits and imaging conditions, multi-modal remote sensing (RS) data is crucial in enabling long-term earth observation. However, maritime surveillance remains challenging due to the complexity of…
Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…
Near field depth estimation around a self driving car is an important function that can be achieved by four wide angle fisheye cameras having a field of view of over 180. Depth estimation based on convolutional neural networks (CNNs)…
Obstacle detection is a safety-critical problem in robot navigation, where stereo matching is a popular vision-based approach. While deep neural networks have shown impressive results in computer vision, most of the previous obstacle…
We present a real-time visual-inertial dense mapping method capable of performing incremental 3D mesh reconstruction with high quality using only sequential monocular images and inertial measurement unit (IMU) readings. 6-DoF camera poses…
Depth estimation is critical for any robotic system. In the past years estimation of depth from monocular images have shown great improvement, however, in the underwater environment results are still lagging behind due to appearance changes…
Underwater image enhancement has been attracting much attention due to its significance in marine engineering and aquatic robotics. Numerous underwater image enhancement algorithms have been proposed in the last few years. However, these…
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…
Among underwater perceptual sensors, imaging sonar has been highlighted for its perceptual robustness underwater. The major challenge of imaging sonar, however, arises from the difficulty in defining visual features despite limited…