Related papers: AQUALOC: An Underwater Dataset for Visual-Inertial…
Vertical turbine pumps in oil and gas operations rely on motor-mounted accelerometers for condition monitoring. However, these sensors cannot detect faults at submerged impellers exposed to harsh downhole environments. We present the first…
This research paper presents an innovative ship detection system tailored for applications like maritime surveillance and ecological monitoring. The study employs YOLOv8 and repurposed U-Net, two advanced deep learning models, to…
This paper presents a multimodal maritime dataset and the data collection procedure used to gather it, which aims to facilitate autonomous navigation in restricted water environments. The dataset comprises measurements obtained using…
This paper presents a dataset gathered with an underwater robot in a sea-based aquaculture setting. Data was gathered from an operational fish farm and includes data from sensors such as the Waterlinked A50 DVL, the Nortek Nucleus 1000 DVL,…
Underwater vehicles are utilized in various applications including underwater data-collection missions. The tethered connection constrains the mission both in distance traveled and number of vehicles that can run in the same area, while the…
This paper presents a unique outdoor aerial visual-inertial-LiDAR dataset captured using a multi-sensor payload to promote the global navigation satellite system (GNSS)-denied navigation research. The dataset features flight distances…
Operational near-real-time monitoring of Earth's surface deformation using Interferometric Synthetic Aperture Radar (InSAR) requires processing algorithms that efficiently incorporate new acquisitions without reprocessing historical…
Most state-of-the-art localization algorithms rely on robust relative pose estimation and geometry verification to obtain moving object agnostic camera poses in complex indoor environments. However, this approach is prone to mistakes if a…
A new automotive radar data set with measurements and point-wise annotations from more than four hours of driving is presented. Data provided by four series radar sensors mounted on one test vehicle were recorded and the individual…
Surface water dynamics play a critical role in Earth's climate system, influencing ecosystems, agriculture, disaster resilience, and sustainable development. Yet monitoring rivers and surface water at fine spatial and temporal scales…
Marine animals and deep underwater objects are difficult to recognize and monitor for safety of aquatic life. There is an increasing challenge when the water is saline with granular particles and impurities. In such natural adversarial…
Remote sensing of oceanographic data often yields incomplete coverage of the measurement domain. This can limit interpretability of the data and identification of coherent features informative of ocean dynamics. Several methods exist to…
We propose an accurate and robust multi-modal sensor fusion framework, MetroLoc, towards one of the most extreme scenarios, the large-scale metro vehicle localization and mapping. MetroLoc is built atop an IMU-centric state estimator that…
Underwater sensor networks are anticipated to facilitate numerous commercial and military applications. Moreover, precise self-localization in practical underwater scenario is a crucial challenge in sensor networks because of the complexity…
The availability of city-scale Lidar maps enables the potential of city-scale place recognition using mobile cameras. However, the city-scale Lidar maps generally need to be compressed for storage efficiency, which increases the difficulty…
In an era where maritime infrastructures are crucial, advanced situational awareness solutions are increasingly important. The use of optical camera systems can allow real-time usage of maritime footage. This thesis presents an…
Underwater Camouflaged Object Detection (UCOD) is a challenging task due to the extreme visual similarity between targets and backgrounds across varying marine depths. Existing methods often struggle with topological fragmentation of…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
Accurate visual localization from aerial views is a fundamental problem with applications in mapping, large-area inspection, and search-and-rescue operations. In many scenarios, these systems require high-precision localization while…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…