4 papers · 1 filter
A High-accuracy Event-based Underwater SLAM System
Yifan Peng, Qihang Liu, Haoying Li +3
While event cameras offer immense potential for underwater SLAM, existing Time Surface (TS)-based methods prove highly unreliable when deployed underwater. Fluctuating camera veloc…
SonarSweep: Fusing Sonar and Vision for Robust 3D Reconstruction via Plane Sweeping
Lingpeng Chen, Jiakun Tang, Apple Pui-Yi Chui +2
Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due t…
Supervisory Measurement-Guided Noise Covariance Estimation
Haoying Li, Yifan Peng, Xinghan Li +1
Reliable state estimation hinges on accurate specification of sensor noise covariances, which weigh heterogeneous measurements. In practice, these covariances are difficult to iden…
AquaticVision: Benchmarking Visual SLAM in Underwater Environment with Events and Frames
Yifan Peng, Yuze Hong, Ziyang Hong +2
Many underwater applications, such as offshore asset inspections, rely on visual inspection and detailed 3D reconstruction. Recent advancements in underwater visual SLAM systems fo…