相关论文: Mapping the Catacombs: An Underwater Cave Segment …

Video snapshot compressive imaging (SCI) aims to capture a sequence of video frames with only a single shot of a 2D detector, whose backbones rest in optical modulation patterns (also known as masks) and a computational reconstruction…

Task generation for underwater multi-robot inspections without prior knowledge of existing geometry can be achieved and optimized through examination of simultaneous localization and mapping (SLAM) data. By considering hardware parameters…

In this work, we present a panoramic metric depth foundation model that generalizes across diverse scene distances. We explore a data-in-the-loop paradigm from the view of both data construction and framework design. We collect a…

Recent research has shown that mmWave radar sensing is effective for object detection in low visibility environments, which makes it an ideal technique in autonomous navigation systems such as autonomous vehicles. However, due to the…

Accurate 3D reconstruction in degraded imaging conditions remains a key challenge in photogrammetry and neural rendering. In underwater environments, spatially varying visibility caused by scattering, attenuation, and sparse observations…

We present a real-time visual-inertial dense mapping method capable of performing incremental 3D mesh reconstruction with high quality using only sequential monocular images and inertial measurement unit (IMU) readings. 6-DoF camera poses…

The low-quality structure in raw depth maps is prevalent in real-world RGB-D datasets, which makes real-world depth recovery a critical task in recent years. However, the lack of paired raw-ground truth (raw-GT) data in the real world poses…

The proliferation of floating anthropogenic debris in rivers has emerged as a pressing environmental concern, exerting a detrimental influence on biodiversity, water quality, and human activities such as navigation and recreation. The…

Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…

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…

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…

In embodied vision, Instance ImageGoal Navigation (IIN) requires an agent to locate a specific object depicted in a goal image within an unexplored environment. The primary challenge of IIN arises from the need to recognize the target…

We introduce local matching stability and furthest matchable frame as quantitative measures for evaluating the success of underwater image enhancement. This enhancement process addresses visual degradation caused by light absorption,…

This paper presents a novel visual feature based scene mapping method for underwater vehicle manipulator systems (UVMSs), with specific emphasis on robust mapping in natural seafloor environments. Our method uses GPU accelerated SIFT…

We know that both the CNN mapping function and the sampling scheme are of paramount importance for CNN-based image analysis. It is clear that both functions operate in the same space, with an image axis $\mathcal{I}$ and a feature axis…

We present a novel approach for real-time joint reconstruction of 3D scene motion and geometry from binocular stereo videos. Our approach is based on a novel variational halfway-domain scene flow formulation, which allows us to obtain…

Scene reconstruction from multi-view images is a fundamental problem in computer vision and graphics. Recent neural implicit surface reconstruction methods have achieved high-quality results; however, editing and manipulating the 3D…

Holoscopic 3D imaging is a promising technique for capturing full colour spatial 3D images using a single aperture holoscopic 3D camera. It mimics fly's eye technique with a microlens array, which views the scene at a slightly different…

Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…

Camera extrinsic calibration is a fundamental task in computer vision. However, precise relative pose estimation in constrained, highly distorted environments, such as in-cabin automotive monitoring (ICAM), remains challenging. We present…