Related papers: Stereo obstacle detection for unmanned surface veh…
Semantic segmentation has been one of the leading research interests in computer vision recently. It serves as a perception foundation for many fields, such as robotics and autonomous driving. The fast development of semantic segmentation…
Unsupervised semantic segmentation (USS) aims to achieve high-quality segmentation without manual pixel-level annotations. Existing USS models provide coarse category classification for regions, but the results often have blurry and…
In the maritime sector, safe vessel navigation is of great importance, particularly in congested harbors and waterways. The focus of this work is to estimate the distance between an object of interest and potential obstacles using a…
Road surface classification (RSC) is a key enabler for environment-aware predictive maintenance systems. However, existing RSC techniques often fail to generalize beyond narrow operational conditions due to limited sensing modalities and…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
In recent years, Unmanned Surface Vehicles (USV) have been extensively deployed for maritime applications. However, USV has a limited detection range with sensor installed at the same elevation with the targets. In this research, we propose…
DL based Synthetic Aperture Radar (SAR) ship detection has tremendous advantages in numerous areas. However, it still faces some problems, such as the lack of prior knowledge, which seriously affects detection accuracy. In order to solve…
Detecting road obstacles is essential for autonomous vehicles to navigate dynamic and complex traffic environments safely. Current road obstacle detection methods typically assign a score to each pixel and apply a threshold to generate…
Semantic segmentation of outdoor street scenes plays a key role in applications such as autonomous driving, mobile robotics, and assistive technology for visually-impaired pedestrians. For these applications, accurately distinguishing…
The detection of small road hazards, such as lost cargo, is a vital capability for self-driving cars. We tackle this challenging and rarely addressed problem with a vision system that leverages appearance, contextual as well as geometric…
Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…
Background and Objective: Infra-red scanning laser ophthalmoscope (IRSLO) images are akin to colour fundus photographs in displaying the posterior pole and retinal vasculature fine detail. While there are many trained networks readily…
With the growing deployment of autonomous driving agents, the detection and segmentation of road obstacles have become critical to ensure safe autonomous navigation. However, existing road-obstacle segmentation methods are applied on…
Unmanned surface vehicles can encounter a number of varied visual circumstances during operation, some of which can be very difficult to interpret. While most cases can be solved only using color camera images, some weather and lighting…
High-definition (HD) semantic mapping of complex intersections poses significant challenges for traditional vehicle-based approaches due to occlusions and limited perspectives. This paper introduces a novel camera-LiDAR fusion framework…
The main contribution of this paper is to propose an iterative procedure for tubular structure segmentation of 2D images, which combines tight frame of Curvelet transforms with a SURE technique thresholding which is based on principle…
This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding…
In this paper, an stereo-based traversability analysis approach for all terrains in off-road mobile robotics, e.g. Unmanned Ground Vehicles (UGVs) is proposed. This approach reformulates the problem of terrain traversability analysis into…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…