Related papers: Visual Diver Recognition for Underwater Human-Robo…
Autonomous underwater robots working with teams of human divers may need to distinguish between different divers, e.g. to recognize a lead diver or to follow a specific team member. This paper describes a technique that enables autonomous…
This paper presents a deep-learned facial recognition method for underwater robots to identify scuba divers. Specifically, the proposed method is able to recognize divers underwater with faces heavily obscured by scuba masks and breathing…
Recent advances in efficient design, perception algorithms, and computing hardware have made it possible to create improved human-robot interaction (HRI) capabilities for autonomous underwater vehicles (AUVs). To conduct secure missions as…
This paper explores the design and development of a class of robust diver-following algorithms for autonomous underwater robots. By considering the operational challenges for underwater visual tracking in diverse real-world settings, we…
In this paper, we present a number of robust methodologies for an underwater robot to visually detect, follow, and interact with a diver for collaborative task execution. We design and develop two autonomous diver-following algorithms, the…
We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
Direct communication between humans and autonomous underwater vehicles (AUVs) is a relatively underexplored area in human-robot interaction (HRI) research, although many tasks (\eg surveillance, inspection, and search-and-rescue) require…
With the end goal of selecting and using diver detection models to support human-robot collaboration capabilities such as diver following, we thoroughly analyze a large set of deep neural networks for diver detection. We begin by producing…
We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…
Uses of underwater videos to assess diversity and abundance of fish are being rapidly adopted by marine biologists. Manual processing of videos for quantification by human analysts is time and labour intensive. Automatic processing of…
Traditional human activity recognition uses either direct image analysis or data from wearable inertial measurement units (IMUs), but can be ineffective in challenging underwater environments. We introduce a novel hybrid approach that…
A real-time Deep Learning based method for Pedestrian Detection (PD) is applied to the Human-Aware robot navigation problem. The pedestrian detector combines the Aggregate Channel Features (ACF) detector with a deep Convolutional Neural…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
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…
Collaborative robots working on a common task are necessary for many applications. One of the challenges for achieving collaboration in a team of robots is mutual tracking and identification. We present a novel pipeline for online…
We introduce an advanced, swift pattern recognition strategy for various multiple robotics during curve negotiation. This method, leveraging a sophisticated k-means clustering-enhanced Support Vector Machine algorithm, distinctly…
In this paper, we present a motion-based robotic communication framework that enables non-verbal communication among autonomous underwater vehicles (AUVs) and human divers. We design a gestural language for AUV-to-AUV communication which…
In recent years, usage and applications of Autonomous Underwater Vehicles has grown rapidly. Interaction of divers with the AUVs remains an integral part of the usage of AUVs for various applications and makes building robust and efficient…
This paper deals with the problem of detecting fallen people lying on the floor by means of a mobile robot equipped with a 3D depth sensor. In the proposed algorithm, inspired by semantic segmentation techniques, the 3D scene is…