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Automatic reconstruction of 3D models from images using multi-view Structure-from-Motion methods has been one of the most fruitful outcomes of computer vision. These advances combined with the growing popularity of Micro Aerial Vehicles as…

Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…

This work proposes a new method for real-time dense 3d reconstruction for common 360{\deg} action cams, which can be mounted on small scouting UAVs during USAR missions. The proposed method extends a feature based Visual monocular SLAM…

It has long been an ill-posed problem to predict absolute depth maps from single images in real (unseen) indoor scenes. We observe that it is essentially due to not only the scale-ambiguous problem but also the focal-ambiguous problem that…

Corals are the primary habitat-building life-form on reefs that support a quarter of the species in the ocean. A coral reef ecosystem usually consists of reefs, each of which is like a tall building in any city. These reef-building corals…

Mapping the seafloor with underwater imaging cameras is of significant importance for various applications including marine engineering, geology, geomorphology, archaeology and biology. For shallow waters, among the underwater imaging…

Autonomous inspection of underground infrastructure, such as sewer and culvert systems, is critical to public safety and urban sustainability. Although robotic platforms equipped with visual sensors can efficiently detect structural…

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)…

UAVs have become an essential photogrammetric measurement as they are affordable, easily accessible and versatile. Aerial images captured from UAVs have applications in small and large scale texture mapping, 3D modelling, object detection…

We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when multiple observers capture a shared event. Prior approaches…

Accurate depth estimation is at the core of many applications in computer graphics, vision, and robotics. Current state-of-the-art monocular depth estimators, trained on extensive datasets, generalize well but lack 3D consistency needed for…

Due to the selective absorption and scattering of light by diverse aquatic media, underwater images usually suffer from various visual degradations. Existing underwater image enhancement (UIE) approaches that combine underwater physical…

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…

The powerful representation capacity of deep learning has made it inevitable for the underwater image enhancement community to employ its potential. The exploration of deep underwater image enhancement networks is increasing over time, and…

In this paper, we present a complete refractive Structure-from-Motion (RSfM) framework for underwater 3D reconstruction using refractive camera setups (for both, flat- and dome-port underwater housings). Despite notable achievements in…

This paper shows that accurate underwater 3D shape reconstruction is possible using a single camera, observing a target through a refractive interface. We provide unified reconstruction techniques for a variety of scenarios such as single…

Optical Flow (OF) and depth are commonly used for visual odometry since they provide sufficient information about camera ego-motion in a rigid scene. We reformulate the problem of ego-motion estimation as a problem of motion estimation of a…

The 3D documentation of the tunnel surface during construction requires fast and robust measurement systems. In the solution proposed in this paper, during tunnel advance a single camera is taking pictures of the tunnel surface from several…

We present a real-time dense geometric mapping algorithm for large-scale environments. Unlike existing methods which use pinhole cameras, our implementation is based on fisheye cameras which have larger field of view and benefit some other…

For aquaculture resource evaluation and ecological environment monitoring, automatic detection and identification of marine organisms is critical. However, due to the low quality of underwater images and the characteristics of underwater…