相关论文: AONeuS: A Neural Rendering Framework for Acoustic-…
Real-time, high-quality, 3D scanning of large-scale scenes is key to mixed reality and robotic applications. However, scalability brings challenges of drift in pose estimation, introducing significant errors in the accumulated model.…
Cameras and 2D laser scanners, in combination, are able to provide low-cost, light-weight and accurate solutions, which make their fusion well-suited for many robot navigation tasks. However, correct data fusion depends on precise…
Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…
Underwater imaging is a critical task performed by marine robots for a wide range of applications including aquaculture, marine infrastructure inspection, and environmental monitoring. However, water column effects, such as attenuation and…
Navigating spatially varied and dynamic environments is one of the key tasks for autonomous agents. In this paper we present a novel method of navigating a mobile platform with one or multiple 3D-sonar sensors. Moving a mobile platform and…
The reconstruction of object surfaces from multi-view images or monocular video is a fundamental issue in computer vision. However, much of the recent research concentrates on reconstructing geometry through implicit or explicit methods. In…
Underwater scene reconstruction is essential for immersive exploration of aquatic environments, yet remains challenging due to complex participating-media effects such as absorption and scattering, as well as the limited field of view (FoV)…
In 3D reconstruction of underwater scenes, traditional methods based on atmospheric optical models cannot effectively deal with the selective attenuation of light wavelengths and the effect of suspended particle scattering, which are unique…
NeRF-based techniques fit wide and deep multi-layer perceptrons (MLPs) to a continuous radiance field that can be rendered from any unseen viewpoint. However, the lack of surface and normals definition and high rendering times limit their…
Optical Fourier surfaces (OFSs), featuring sinusoidally profiled diffractive elements, manipulate light through patterned nanostructures and incident angle modulation. Compared to altering structural parameters, tuning elevation and azimuth…
Underwater scene reconstruction poses a substantial challenge because of the intricate interplay between light and the medium, resulting in scattering and absorption effects that make both depth estimation and rendering more complex. While…
Synthetic aperture sonar (SAS) image reconstruction, or beamforming as it is often referred to within the SAS community, comprises a class of computationally intensive algorithms for creating coherent high-resolution imagery from successive…
In surgical oncology, screening colonoscopy plays a pivotal role in providing diagnostic assistance, such as biopsy, and facilitating surgical navigation, particularly in polyp detection. Computer-assisted endoscopic surgery has recently…
Multiresolution image fusion is a key problem for real-time satellite imaging and plays a central role in detecting and monitoring natural phenomena such as floods. It aims to solve the trade-off between temporal and spatial resolution in…
Sonar imaging is fundamental to underwater exploration, with critical applications in defense, navigation, and marine research. Shadow regions, in particular, provide essential cues for object detection and classification, yet existing…
The challenges in recovering underwater images are the presence of diverse degradation factors and the lack of ground truth images. Although synthetic underwater image pairs can be used to overcome the problem of inadequately observing…
The reconstruction of ocean subsurface temperature (OST) using satellite remote sensing data holds significant scientific value for advancing the understanding of ocean dynamics and climate variability. However, the scarcity of subsurface…
Underwater images suffer from severe degradations, including color distortions, reduced visibility, and loss of structural details due to wavelength-dependent attenuation and scattering. Existing enhancement methods primarily focus on…
Reconstruction of the soft tissues in robotic surgery from endoscopic stereo videos is important for many applications such as intra-operative navigation and image-guided robotic surgery automation. Previous works on this task mainly rely…
LiDAR-based 3D object detection and panoptic segmentation are two crucial tasks in the perception systems of autonomous vehicles and robots. In this paper, we propose All-in-One Perception Network (AOP-Net), a LiDAR-based multi-task…