相关论文: Bathymetric Surveying with Imaging Sonar Using Neu…
Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a mapping representation that accurately captures scene geometry…
As Neural Radiance Field (NeRF) implementations become faster, more efficient and accurate, their applicability to real world mapping tasks becomes more accessible. Traditionally, 3D mapping, or scene reconstruction, has relied on expensive…
Spacecraft autonomy can be enhanced by vision-based navigation (VBN) techniques. Applications range from manoeuvers around Solar System objects and landing on planetary surfaces, to in-orbit servicing or space debris removal. The…
In this paper, we present the first large-scale dataset for semantic Segmentation of Underwater IMagery (SUIM). It contains over 1500 images with pixel annotations for eight object categories: fish (vertebrates), reefs (invertebrates),…
Underwater imaging grapples with challenges from light-water interactions, leading to color distortions and reduced clarity. In response to these challenges, we propose a novel Color Balance Prior \textbf{Guided} \textbf{Hyb}rid…
We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…
Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…
Imaging methods based on array signal processing often require a fixed propagation speed of the medium, or speed of sound (SoS) for methods based on acoustic signals. The resolution of the images formed using these methods is strongly…
Imaging sonar produces clear images in underwater environments, independent of water turbidity and lighting conditions. The next generation 2D forward looking sonars are compact in size and able to generate high-resolution images which…
Neural radiance fields (NeRFs) are able to synthesize realistic novel views from multi-view images captured from distinct positions and perspectives. In NeRF's rendering pipeline, neural networks are used to represent a scene independently…
Modern-day display systems demand high-quality rendering. However, rendering at higher resolution requires a large number of data samples and is computationally expensive. Recent advances in deep learning-based image and video…
With the growing interest in underwater exploration and monitoring, Autonomous Underwater Vehicles (AUVs) have become essential. The recent interest in onboard Deep Learning (DL) has advanced real-time environmental interaction capabilities…
Obtaining high-quality 3D reconstructions of room-scale scenes is of paramount importance for upcoming applications in AR or VR. These range from mixed reality applications for teleconferencing, virtual measuring, virtual room planing, to…
Underwater Image Rendering aims to generate a true-tolife underwater image from a given clean one, which could be applied to various practical applications such as underwater image enhancement, camera filter, and virtual gaming. We explore…
Neural implicit surface reconstruction using volume rendering techniques has recently achieved significant advancements in creating high-fidelity surfaces from multiple 2D images. However, current methods primarily target scenes with…
Accurate seabed mapping is essential for habitat monitoring and infrastructure inspection. In turbid, shallow coastal waters, such as shellfish aquaculture farms, the effectiveness of traditional optical methods is limited. Autonomous…
We propose a neural network-based real-time volume rendering method for realistic and efficient rendering of volumetric media. The traditional volume rendering method uses path tracing to solve the radiation transfer equation, which…
Synthetic aperture sonar (SAS) imagery is crucial for several applications, including target recognition and environmental segmentation. Deep learning models have led to much success in SAS analysis; however, the features extracted by these…
In ultrasound beamforming, focusing time delays are typically computed with a spatially constant speed-of-sound (SoS) assumption. A mismatch between beamforming and true medium SoS then leads to aberration artifacts. Other imaging…
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…