相关论文: Target Height Estimation Using a Single Acoustic C…
Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…
Despite significant progress in monocular depth estimation in the wild, recent state-of-the-art methods cannot be used to recover accurate 3D scene shape due to an unknown depth shift induced by shift-invariant reconstruction losses used in…
It may be important to precisely know heights of moored oceanographic instrumentation. For example, moorings can be closely spaced or accidentally be located on small rocks or in small gullies. Height variations O(1 m) will yield…
Recent camera-based 3D object detection is limited by the precision of transforming from image to 3D feature spaces, as well as the accuracy of object localization within the 3D space. This paper aims to address such a fundamental problem…
Object pose estimation underwater allows an autonomous system to perform tracking and intervention tasks. Nonetheless, underwater target pose estimation is remarkably challenging due to, among many factors, limited visibility, light…
Noise pollution investigation takes advantage of two common methods of diagnosis: measurement using a Sound Level Meter and acoustical imaging. The former enables a detailed analysis of the surrounding noise spectrum whereas the latter is…
Monocular depth estimation plays a crucial role in 3D recognition and understanding. One key limitation of existing approaches lies in their lack of structural information exploitation, which leads to inaccurate spatial layout,…
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…
We propose a novel method to generate underwater object imagery that is acoustically compliant with that generated by side-scan sonar using the Unreal Engine. We describe the process to develop, tune, and generate imagery to provide…
The increasing level of sound pollution in marine environments poses an increased threat to ocean health, making it crucial to monitor underwater noise. By monitoring this noise, the sources responsible for this pollution can be mapped.…
Robust 3D reconstruction across varying environmental conditions remains a critical challenge for robotic perception, particularly when transitioning between air and water. To address this, we introduce BALTIC, a controlled benchmark…
Stereo matching plays a crucial role in 3D perception and scenario understanding. Despite the proliferation of promising methods, addressing texture-less and texture-repetitive conditions remains challenging due to the insufficient…
Monocular 3D estimation is crucial for visual perception. However, current methods fall short by relying on oversimplified assumptions, such as pinhole camera models or rectified images. These limitations severely restrict their general…
Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D or stereo cameras. However, these sensors face practical…
Modern cameras are equipped with a wide array of sensors that enable recording the geospatial context of an image. Taking advantage of this, we explore depth estimation under the assumption that the camera is geocalibrated, a problem we…
In recent years, the technological improvements of low-cost small-scale Unmanned Aerial Vehicles (UAVs) are promoting an ever-increasing use of them in different tasks. In particular, the use of small-scale UAVs is useful in all these…
We present a near real-time solution for 3D reconstruction from aerial images captured by consumer UAVs. Our core idea is to simplify the multi-view stereo problem into a series of two-view stereo matching problems. Our method applies to…
Depth estimation is a crucial step for image-guided intervention in robotic surgery and laparoscopic imaging system. Since per-pixel depth ground truth is difficult to acquire for laparoscopic image data, it is rarely possible to apply…
Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…
Development of optical technology has enabled imaging of two-dimensional (2D) sound fields. This acousto-optic sensing enables understanding of the interaction between sound and objects such as reflection and diffraction. Moreover, it is…