Related papers: A vision based system for underwater docking

Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…

In this paper, we propose a real-time deep learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image. A team of autonomous robots localizing themselves in a communication-constrained…

This paper presents a general framework integrating vision and acoustic sensor data to enhance localization and mapping in highly dynamic and complex underwater environments, with a particular focus on fish farming. The proposed pipeline is…

Autonomous Underwater Vehicles (AUVs) conduct missions underwater without the need for human intervention. A docking station (DS) can extend mission times of an AUV by providing a location for the AUV to recharge its batteries and receive…

Unmanned Surface Vehicles (USVs) are increasingly applied to water operations such as environmental monitoring and river-map modeling. It faces a significant challenge in achieving precise autonomous docking at ports or stations, still…

Miniaturized autonomous unmanned aerial vehicles (UAVs) are gaining popularity due to their small size, enabling new tasks such as indoor navigation or people monitoring. Nonetheless, their size and simple electronics pose severe challenges…

Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…

This paper introduces a deep transformer network for estimating the relative 6D pose of a Unmanned Aerial Vehicle (UAV) with respect to a ship using monocular images. A synthetic dataset of ship images is created and annotated with 2D…

The design of autonomous underwater vehicles (AUVs) and their docking stations has been a popular research topic for several decades. Although many AUV and dock designs have been proposed, materialized, and commercialized, most of these…

In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…

The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…

In this work, we propose a deep learning approach to improve docking-based virtual screening. The introduced deep neural network, DeepVS, uses the output of a docking program and learns how to extract relevant features from basic data such…

Autonomous underwater vehicles (AUV) perform various applications such as seafloor mapping and underwater structure health monitoring. Commonly, an inertial navigation system aided by a Doppler velocity log (DVL) is used to provide the…

Many underwater tasks, such as cable-and-wreckage inspection and search-and-rescue, can benefit from robust Human-Robot Interaction (HRI) capabilities. With the recent advancements in vision-based underwater HRI methods, Autonomous…

The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…

Cameras are rapidly becoming the choice for on-board sensors towards space rendezvous due to their small form factor and inexpensive power, mass, and volume costs. When it comes to docking, however, they typically serve a secondary role,…

Autonomous Underwater Vehicles (AUVs) commonly utilize an inertial navigation system (INS) and a Doppler velocity log (DVL) for underwater navigation. To that end, their measurements are integrated through a nonlinear filter such as the…

Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…

Autonomous underwater vehicles (AUVs) are employed for marine applications and can operate in deep underwater environments beyond human reach. A standard solution for the autonomous navigation problem can be obtained by fusing the inertial…

Accurate relative state observation of Unmanned Underwater Vehicles (UUVs) for tracking uncooperative targets remains a significant challenge due to the absence of GPS, complex underwater dynamics, and sensor limitations. Existing…