no code implementations • 28 May 2024 • Felix Seegräber, Mengkun She, Felix Woelk, Kevin Köser
Many underwater robotic applications relying on vision sensors require proper camera calibration, i. e. knowing the incoming light ray for each pixel in the image.
no code implementations • 13 Mar 2024 • Mengkun She, Felix Seegräber, David Nakath, Kevin Köser
In this paper, we present a complete refractive Structure-from-Motion (RSfM) framework for underwater 3D reconstruction using refractive camera setups (for both, flat- and dome-port underwater housings).
no code implementations • 21 Dec 2023 • David Nakath, Xiangyu Weng, Mengkun She, Kevin Köser
We additionally suggest a method to convert non-physical NeRF media into a physically-based volumetric grid for initialization and illustrate the usefulness of the approach using two real-world plankton validation sets, the lab-scanned models being finally also relighted and virtually submerged in a scenario with augmented medium and illumination conditions.
no code implementations • 5 Sep 2023 • YiFan Song, Mengkun She, Kevin Köser
To validate the effectiveness of our approach, we conducted extensive experiments on simulated and real-world datasets.
no code implementations • 11 Aug 2023 • Mengkun She, YiFan Song, David Nakath, Kevin Köser
Driven by the increasing number of marine data science applications, there is a growing interest in surveying and exploring the vast, uncharted terrain of the deep sea with robotic platforms.
no code implementations • 14 Jun 2023 • Michele Grimaldi, David Nakath, Mengkun She, Kevin Köser
A focus is laid on understanding the impact of environmental conditions, such as optical properties of the water and illumination scenarios, on the performance of monocular vSLAM methods.
no code implementations • 7 May 2023 • Birger Winkel, David Nakath, Felix Woelk, Kevin Köser
In order to advance underwater computer vision and robotics from lab environments and clear water scenarios to the deep dark ocean or murky coastal waters, representative benchmarks and realistic datasets with ground truth information are required.
no code implementations • 14 Dec 2021 • Mengkun She, Tim Weiß, YiFan Song, Peter Urban, Jens Greinert, Kevin Köser
Beside reporting the steps to make bubble characterization robust and autonomous, we carefully evaluate the reachable accuracy to be in the range of 1-2\% of the bubble radius and propose a novel auto-calibration procedure that, due to the lack of point correspondences, uses only the silhouettes of bubbles.
no code implementations • 1 Oct 2021 • Kevin Köser, YiFan Song, Lasse Petersen, Emanuel Wenzlaff, Felix Woelk
The majority of Earth's surface lies deep in the oceans, where no surface light reaches.
no code implementations • 14 Aug 2021 • Mengkun She, David Nakath, YiFan Song, Kevin Köser
Underwater cameras are typically placed behind glass windows to protect them from the water.
no code implementations • 27 Jun 2020 • Yi-Fan Song, Furkan Elibol, Mengkun She, David Nakath, Kevin Köser
Illuminating a scene with artificial light is a prerequisite for seeing in dark environments.
1 code implementation • 27 Jun 2020 • Yi-Fan Song, David Nakath, Mengkun She, Furkan Elibol, Kevin Köser
Nowadays underwater vision systems are being widely applied in ocean research.