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In order to understand the underwater environment, it is essential to use sensing methodologies able to perceive the three dimensional (3D) information of the explored site. Sonar sensors are commonly employed in underwater exploration. This paper presents a novel methodology able to retrieve 3D information of underwater objects. The proposed solution employs an acoustic camera, which represents the...
Spherical cameras are widely used for robot perception because of their full 360 degree fields of view. However, the robot body is always seen in the view, causing occlusions. In this paper, we propose a video completion method which is able to remove occlusions fast and recover the occluded background accurately. We first estimate motion in a 2D dense spherical optical flow field. Then we interpolate...
In this research, a technique for dense 3D reconstruction from two spherical images clicked at displaced positions near a large structure is formulated. The technique is based on the use of global variational information i.e. the dense optical flow field in a unique rectification based refinement of the epipolar geometry between the two images in a vertically displaced orientation. A non-linear minimization...
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