相关论文: Object Modeling from Underwater Forward-Scan Sonar…

3D object detection from monocular image(s) is a challenging and long-standing problem of computer vision. To combine information from different perspectives without troublesome 2D instance tracking, recent methods tend to aggregate…

3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…

We propose a novel method for 3D object reconstruction from a sparse set of views captured from a 360-degree calibrated camera rig. We represent the object surface through a hybrid model that uses both an MLP-based neural representation and…

Although fully autonomous mapping methods are becoming more and more common and reliable, still the human operator is regularly employed in many 3D surveying missions. In a number of underwater applications, divers or pilots of remotely…

Reconstructing and processing the 3D objects are popular activities in the research field of computer graphics, image processing and computer vision. The 3D objects are processed based on the methods like geometric modeling, a branch of…

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 introduce OceanSplat, a novel 3D Gaussian Splatting-based approach for high-fidelity underwater scene reconstruction. To overcome multi-view inconsistencies caused by scattering media, we design a trinocular setup for each camera pose by…

Echo-location is a broad approach to imaging and sensing that includes both man-made RADAR, LIDAR, SONAR and also animal navigation. However, full 3D information based on echo-location requires some form of scanning of the scene in order to…

In the recent literature, on the one hand, many 3D multi-object tracking (MOT) works have focused on tracking accuracy and neglected computation speed, commonly by designing rather complex cost functions and feature extractors. On the other…

Existing deep learning-based approaches for monocular 3D object detection in autonomous driving often model the object as a rotated 3D cuboid while the object's geometric shape has been ignored. In this work, we propose an approach for…

We propose a novel data-driven approach for high-resolution bathymetric reconstruction from sidescan. Sidescan sonar (SSS) intensities as a function of range do contain some information about the slope of the seabed. However, that…

To image in high resolution large and occlusion-prone scenes, a camera must move above and around. Degradation of visibility due to geometric occlusions and distances is exacerbated by scattering, when the scene is in a participating…

This paper presents PlanarSplatting, an ultra-fast and accurate surface reconstruction approach for multiview indoor images. We take the 3D planes as the main objective due to their compactness and structural expressiveness in indoor…

Acoustic sonar imaging systems are widely used for underwater surveillance in both civilian and military sectors. However, acquiring high-quality sonar datasets for training Artificial Intelligence (AI) models confronts challenges such as…

Depth cues are known to be useful for visual perception. However, direct measurement of depth is often impracticable. Fortunately, though, modern learning-based methods offer promising depth maps by inference in the wild. In this work, we…

This paper presents a multi stage 3D shape reconstruction system of multiple object scenes by considering the silhouette inconsistencies in shape-from silhouette SFS method. These inconsistencies are common in multiple view images due to…

A surface is often modeled as a triangulated mesh of 3D points and textures associated with faces of the mesh. The 3D points could be either sampled from range data or derived from a set of images using a stereo or Structure-from-Motion…

Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…

3D object removal is an important sub-task in 3D scene editing, with broad applications in scene understanding, augmented reality, and robotics. However, existing methods struggle to achieve a desirable balance among consistency, usability,…

Scene and object reconstruction is an important problem in robotics, in particular in planning collision-free trajectories or in object manipulation. This paper compares two strategies for the reconstruction of nonvisible parts of the…