Monika Roznere — accepted AI-conference papers

2026

Mapping Pamir: Multi-Session Visual/Inertial SLAM and 3D Reconstruction of an Underwater Shipwreck

Michalis Chatzispyrou, Luke Horgan, Hyunkil Hwang, Harish Sathishchandra, Chinmay Burgul, Monika Roznere +3

ICRA 2026poster

This paper presents a framework for multi-session mapping of underwater environments utilizing an affordable action camera. The Visual-Inertial data are augmented by water depth recordings from a dive computer. SVIn2, an open-source VI-SLAM framework is utilized to generate a trajectory and a sparse…

Cited by 0 Scholar ↗

2024

Persistent Monitoring of Large Environments with Robot Deployment Scheduling in between Remote Sensing Cycles

Kizito Masaba, Monika Roznere, Mingi Jeong, Alberto Quattrini Li

ICRA 2024poster

This paper proposes a novel decision-making framework for planning "when" and "where" to deploy robots based on prior data with the goal of persistently monitoring a spatio-temporal phenomenon in an environment. We specifically focus on large lake monitoring, where remote sensors, such as satellites…

Cited by 2 Source ↗Scholar ↗

2024

Underwater Dome-Port Camera Calibration: Modeling of Refraction and Offset through N-Sphere Camera Model

Monika Roznere, Adithya K. Pediredla, Samuel E. Lensgraf, Yogesh Girdhar, Alberto Quattrini Li

ICRA 2024poster

The optical effects that are observed in underwater imagery are more complex than those in-air. This is partially because we enclose most underwater cameras in a watertight enclosure, such as a hemispheric dome window. We then observe optical issues including the distortion effects of the lens, e.g.…

Cited by 0 Source ↗Scholar ↗

2023

3-D Reconstruction Using Monocular Camera and Lights: Multi-View Photometric Stereo for Non-Stationary Robots

Monika Roznere, Philippos Mordohai, Ioannis Rekleitis, Alberto Quattrini Li

ICRA 2023poster

This paper proposes a novel underwater Multi-View Photometric Stereo (MVPS) framework for reconstructing scenes in 3-D with a non-stationary low-cost robot equipped with a monocular camera and fixed lights. The underwater realm is the primary focus of study here, due to the challenges in utilizing u…

Cited by 3 Source ↗Scholar ↗

2023

Deep Underwater Monocular Depth Estimation with Single-Beam Echosounder

Haowen Liu, Monika Roznere, Alberto Quattrini Li

ICRA 2023poster

Underwater depth estimation is essential for safe Autonomous Underwater Vehicles (AUV) navigation. While there has been recent advances in out-of-water monocular depth estimation, it is difficult to apply these methods to the underwater domain due to the lack of well-established datasets with labell…

Cited by 7 Source ↗code ↗Scholar ↗

2020

Underwater Monocular Image Depth Estimation using Single-beam Echosounder

Monika Roznere, Alberto Quattrini Li

IROS 2020poster

This paper proposes a methodology for real-time depth estimation of underwater monocular camera images, fusing measurements from a single-beam echosounder. Our system exploits the echosounder's detection cone to match its measurements with the detected feature points from a monocular SLAM system. Su…

Cited by 33 Source ↗Scholar ↗

2019

Real-time Model-based Image Color Correction for Underwater Robots

Monika Roznere, Alberto Quattrini Li

IROS 2019poster

Recently, a new underwater imaging formation model presented that the coefficients related to the direct and backscatter transmission signals are dependent on the type of water, camera specifications, water depth, and imaging range. This paper proposes an underwater color correction method that inte…

Cited by 35 Source ↗code ↗Scholar ↗