UDepth: Fast Monocular Depth Estimation for Visually-guided Underwater Robots
Boxiao Yu,Jiayi Wu,Md Jahidul Islam,Boxiao Yu,Jiayi Wu,Md Jahidul Islam
In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain knowledge of image formation characteristics of natural underwater scenes. First, we adapt a new input space from raw RGB image space by exploiting underwater l...
