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simmediumsim-to-realmetric · varies
SurfSLAM: Sim-to-Real Underwater Stereo Reconstruction For Real-Time SLAM
Description
Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a low-cost means of directly estimating metric depth to support these tasks. However, despite recent advances in stereo depth estimation on land, computing depth from image pairs in underwater scenes remains challenging. In underwater environments, images are degraded by light attenuation, visual artifacts, and dynamic lighting conditions. Furthermore, real-world underwater scenes frequently l