Pith Number

pith:H6EUBHRA

pith:2024:H6EUBHRAKFD5GSBZ2WYUAXYSP4

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EgoExo++: Integrating On-demand Exocentric Visuals with 2.5D Ground Surface Estimation for Interactive Teleoperation of Underwater ROVs

Adnan Abdullah, Ioannis Rekleitis, Md Jahidul Islam, Ruo Chen

EgoExo++ generates on-demand exocentric views plus 2.5D ground estimates from a single egocentric camera to improve underwater ROV teleoperation.

arxiv:2407.00848 v7 · 2024-06-30 · cs.RO

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3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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Claims

C1strongest claim

EgoExo++ augments piecewise planar 2.5D ground surface estimation on-the-fly; its anchor-free aerial viewpoint supports ground-relative reasoning such as clearance and terrain-based navigation marker following, yielding 16% faster missions, 5-fold reduction in path deviation ratio, and fewer collision events (2 vs. 5) in user studies.

C2weakest assumption

The monocular SLAM estimates remain sufficiently accurate and drift-free in low-light, turbid underwater conditions so that the closed-form view synthesis and planar surface fitting produce geometrically correct exocentric visuals without introducing new navigation errors (stated in the abstract as the basis for portability and robustness).

C3one line summary

EgoExo++ synthesizes on-demand exocentric views plus 2.5D ground surface from egocentric monocular SLAM for underwater ROV teleoperation, reporting 16% faster missions, 5x lower path deviation, and fewer collisions in user studies.

Formal links

3 machine-checked theorem links

Cited by

1 paper in Pith

Bridging Perspectives: A Survey on Cross-view Collaborative Intelligence with Egocentric-Exocentric Vision

Receipt and verification

First computed	2026-05-26T01:03:08.737976Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3f89409e205147d34839d5b1405f127f3843523d2b37083bd7cde9a573d0dd80

Aliases

arxiv: 2407.00848 · arxiv_version: 2407.00848v7 · doi: 10.48550/arxiv.2407.00848 · pith_short_12: H6EUBHRAKFD5 · pith_short_16: H6EUBHRAKFD5GSBZ · pith_short_8: H6EUBHRA

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/H6EUBHRAKFD5GSBZ2WYUAXYSP4 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 3f89409e205147d34839d5b1405f127f3843523d2b37083bd7cde9a573d0dd80

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f06bf772678d6d8aca6e525c6aa253bca5c0e02985d96258cf1daf9b33f0448a",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-06-30T22:53:44Z",
    "title_canon_sha256": "b0d368e87cdf4bdce4193f95d5c12a5716de8c58088631be7d34913e6576bfa2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2407.00848",
    "kind": "arxiv",
    "version": 7
  }
}