相关论文: OASIS: Real-Time Opti-Acoustic Sensing for Interve…
Underwater intervention is an important capability in several marine domains, with numerous industrial, scientific, and defense applications. However, existing perception systems used during intervention operations rely on data from optical…
Scene reconstruction is an essential capability for underwater robots navigating in close proximity to structures. Monocular vision-based reconstruction methods are unreliable in turbid waters and lack depth scale information. Sonars are…
Underwater perception and 3D surface reconstruction are challenging problems with broad applications in construction, security, marine archaeology, and environmental monitoring. Treacherous operating conditions, fragile surroundings, and…
We propose a novel approach to handling the ambiguity in elevation angle associated with the observations of a forward looking multi-beam imaging sonar, and the challenges it poses for performing an accurate 3D reconstruction. We utilize a…
Recent work has achieved dense 3D reconstruction with wide-aperture imaging sonar using a stereo pair of orthogonally oriented sonars. This allows each sonar to observe a spatial dimension that the other is missing, without requiring any…
3D reconstruction has been widely used in autonomous navigation fields of mobile robotics. However, the former research can only provide the basic geometry structure without the capability of open-world scene understanding, limiting…
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…
Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…
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…
Recent vision-language-action (VLA) models and world action models (WAMs) advance robotic manipulation by enriching intermediate representations with auxiliary spatial features or future visual-state prediction. However, these…
Given an object mask, Semi-supervised Video Object Segmentation (SVOS) technique aims to track and segment the object across video frames, serving as a fundamental task in computer vision. Although recent memory-based methods demonstrate…
LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload constraints that preclude multi-sensor configurations.…
Novel view synthesis for underwater scene reconstruction presents unique challenges due to complex light-media interactions. Optical scattering and absorption in water body bring inhomogeneous medium attenuation interference that disrupts…
Real-time open-vocabulary scene understanding is essential for efficient 3D perception in applications such as vision-language navigation, embodied intelligence, and augmented reality. However, existing methods suffer from imprecise…
This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challenging as they combine 3D motion in the presence of external…
Incremental scene reconstruction is essential to the navigation in robotics. Most of the conventional methods typically make use of either TSDF (truncated signed distance functions) volume or neural networks to implicitly represent the…
Underwater sonar imaging plays a crucial role in various applications, including autonomous navigation in murky water, marine archaeology, and environmental monitoring. However, the unique characteristics of sonar images, such as complex…
Underwater vehicles have emerged as a critical technology for exploring and monitoring aquatic environments. The deployment of multi-vehicle systems has gained substantial interest due to their capability to perform collaborative tasks with…
Reconstructing complete and interactive 3D scenes remains a fundamental challenge in computer vision and robotics, particularly due to persistent object occlusions and limited sensor coverage. Multiview observations from a single scene scan…
Autonomous Underwater Vehicles (AUVs) have advanced significantly in obstacle detection and path planning through sonar, cameras, and learning-based methods. However, safe and efficient navigation in cluttered environments remains…