相关论文: Physics-informed simulation framework for realisti…

The rapid advancement of generative AI models necessitates novel methods for evaluating image quality that extend beyond human perception. A critical concern for these models is the preservation of an image's underlying Scene Composition…

Computer-assisted surgical (CAS) systems enhance surgical execution and outcomes by providing advanced support to surgeons. These systems often rely on deep learning models trained on complex, challenging-to-annotate data. While synthetic…

Many underwater applications, such as offshore asset inspections, rely on visual inspection and detailed 3D reconstruction. Recent advancements in underwater visual SLAM systems for aquatic environments have garnered significant attention…

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…

Randomized Smoothing (RS) is considered the state-of-the-art approach to obtain certifiably robust models for challenging tasks. However, current RS approaches drastically decrease standard accuracy on unperturbed data, severely limiting…

Fully supervised salient object detection (SOD) has made considerable progress based on expensive and time-consuming data with pixel-wise annotations. Recently, to relieve the labeling burden while maintaining performance, some…

Computer vision technologies markedly enhance the automation capabilities of robotic-assisted minimally invasive surgery (RAMIS) through advanced tool tracking, detection, and localization. However, the limited availability of comprehensive…

The deployment of in-air acoustic sensors for industrial monitoring and autonomous robotics has grown significantly, often drawing inspiration from biological echolocation. However, developing and validating these systems in existing…

We present an indoor acoustic simulation framework that supports both ultrasonic and audible signaling. The framework opens the opportunity for fast indoor acoustic data generation and positioning development. The improved…

Sidescan sonar is a small and cost-effective sensing solution that can be easily mounted on most vessels. Historically, it has been used to produce high-definition images that experts may use to identify targets on the seafloor or in the…

Perceptualizing tool interactions with deformable structures in surgical procedures remains challenging, as unimodal visualization techniques often fail to capture the complexity of these interactions due to constraints such as occlusion…

Precise pose estimation of optical microrobots is essential for enabling high-precision object tracking and autonomous biological studies. However, current methods rely heavily on large, high-quality microscope image datasets, which are…

Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…

The navigation systems of autonomous aircraft rely on the readings provided by a suite of onboard sensors to estimate the aircraft state. In the case of fixed wing vehicles, the sensor suite is composed by triads of accelerometers,…

Semantic image synthesis (SIS) is a task to generate realistic images corresponding to semantic maps (labels). However, in real-world applications, SIS often encounters noisy user inputs. To address this, we propose Stochastic Conditional…

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…

This paper presents a novel dataset for the development of visual navigation and simultaneous localisation and mapping (SLAM) algorithms as well as for underwater intervention tasks. It differs from existing datasets as it contains ground…

Acoustic radiation force and torque arising from wave scattering are commonly used to manipulate micro-objects without contact. We applied the partial wave expansion series and the conformal transformation approach to estimate the radiation…

Spatiotemporal fusion aims to improve both the spatial and temporal resolution of remote sensing images, thus facilitating time-series analysis at a fine spatial scale. However, there are several important issues that limit the application…

This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike traditional sonar, which produces 2D images…