相关论文: Target Height Estimation Using a Single Acoustic C…
Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which…
In this work, an approach based on a data-driven paradigm to denoise and mosaic acoustic camera images is proposed. Acoustic cameras, also known as 2D forward-looking sonar, could collect high-resolution acoustic images in dark and turbid…
Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…
In low-visibility marine environments characterized by turbidity and darkness, acoustic cameras serve as visual sensors capable of generating high-resolution 2D sonar images. However, acoustic camera images are interfered with by complex…
Accurate height estimation from monocular aerial imagery presents a significant challenge due to its inherently ill-posed nature. This limitation is rooted in the absence of adequate geometric constraints available to the model when…
Accurate 3D volumetric mapping is critical for autonomous underwater vehicles operating in obstacle-rich environments. Vision-based perception provides high-resolution data but fails in turbid conditions, while sonar is robust to lighting…
We propose a method that integrates two widely available data sources, building footprints from 2D maps and street level images, to derive valuable information that is generally difficult to acquire -- building heights and building facade…
The problem of overlapping occlusion in target recognition has been a difficult research problem, and the situation of mutual occlusion of ship targets in narrow waters still exists. In this paper, an improved mosaic data enhancement method…
The increasing population, thus financial interests, in coastal areas have increased the need to monitor coastal elevation and shoreline change. Though several resources exist to obtain this information, they often lack the required…
Metric depth estimation from visual sensors is crucial for robots to perceive, navigate, and interact with their environment. Traditional range imaging setups, such as stereo or structured light cameras, face hassles including calibration,…
This paper aims to present an innovative and cost-effective design for Acoustic Soft Tactile (AST) Skin, with the primary goal of significantly enhancing the accuracy of 2-D tactile feature estimation. The existing challenge lies in…
A crucial limitation of current high-resolution 3D photoacoustic tomography (PAT) devices that employ sequential scanning is their long acquisition time. In previous work, we demonstrated how to use compressed sensing techniques to improve…
Underwater acoustic target recognition is a challenging task owing to the intricate underwater environments and limited data availability. Insufficient data can hinder the ability of recognition systems to support complex modeling, thus…
Aliased seabed echoes, also known as "false bottoms" or "shadow bottoms", are a form of echogram corruption caused by seabed reverberation from preceding pings coinciding with echoes from the current ping. These aliases are usually either…
This paper reports a new continuous 3D loss function for learning depth from monocular images. The dense depth prediction from a monocular image is supervised using sparse LIDAR points, which enables us to leverage available open source…
Depth map estimation from images is an important task in robotic systems. Existing methods can be categorized into two groups including multi-view stereo and monocular depth estimation. The former requires cameras to have large overlapping…
Surround depth estimation provides a cost-effective alternative to LiDAR for 3D perception in autonomous driving. While recent self-supervised methods explore multi-camera settings to improve scale awareness and scene coverage, they are…
The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can…
Recent advances in structure-from-motion techniques are enabling many scientific fields to benefit from the routine creation of detailed 3D models. However, for a large number of applications, only a single camera is available, due to cost…
Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many…