4 papers
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…
Hierarchical Multi-Modal Planning for Fixed-Altitude Sparse Target Search and Sampling
Lingpeng Chen, Yuchen Zheng, Apple Pui-Yi Chui +2
Efficient monitoring of sparse benthic phenomena, such as coral colonies, presents a great challenge for Autonomous Underwater Vehicles. Traditional exhaustive coverage strategies…
GeVI-SLAM: Gravity-Enhanced Stereo Visua Inertial SLAM for Underwater Robots
Yuan Shen, Yuze Hong, Guangyang Zeng +4
Accurate visual inertial simultaneous localization and mapping (VI SLAM) for underwater robots remains a significant challenge due to frequent visual degeneracy and insufficient in…
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…