Underwater stereo SLAM with refraction correction
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
This work presents a method for underwater stereo localization and mapping for detailed inspection tasks. The method generates dense, geometrically accurate reconstructions of underwater environments by compensating for image distortions due to refraction. A refractive model of the camera and enclosure is calculated offline using calibration images and produces non-linear epipolar curves for use in stereo matching. An efficient block matching algorithm traverses the precalculated epipolar curves to find pixel correspondences and depths are calculated using pixel ray tracing. Finally the depth maps are used to perform dense simultaneous localization and mapping to generate a 3D model of the environment. The localization and mapping algorithm incorporates refraction corrected ray tracing to improve map quality. The method is shown to improve overall depth map quality over existing methods and to generate high quality 3-D reconstructions.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it