Related papers: AQUALOC: An Underwater Dataset for Visual-Inertial…
Detection of artificial objects from underwater imagery gathered by Autonomous Underwater Vehicles (AUVs) is a key requirement for many subsea applications. Real-world AUV image datasets tend to be very large and unlabelled. Furthermore,…
In this paper, we propose a lightwave power transfer-enabled underwater optical integrated sensing and communication (O-ISAC) system, where an access point (AP) mounted on a seasurface ship transmits lightwave signals to two nodes, namely…
Real-time water-level monitoring across many locations is vital for flood response, infrastructure management, and environmental forecasting. Yet many sensing methods rely on fixed instruments - acoustic, radar, camera, or pressure probes -…
This paper proposes the inertial localization problem, the task of estimating the absolute location from a sequence of inertial sensor measurements. This is an exciting and unexplored area of indoor localization research, where we present a…
Advances in underwater imaging enable collection of extensive seafloor image datasets necessary for monitoring important benthic ecosystems. The ability to collect seafloor imagery has outpaced our capacity to analyze it, hindering…
Despite significant progress in global localization of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments, existing methods remain constrained by the availability of datasets. Current datasets often focus on small-scale scenes and…
Underwater datacenters (UDCs) hold promise as next-generation data storage due to their energy efficiency and environmental sustainability benefits. While the natural cooling properties of water save power, the isolated aquatic environment…
Underwater vehicles have emerged as a critical technology for exploring and monitoring aquatic environments. The deployment of multi-vehicle systems has gained substantial interest due to their capability to perform collaborative tasks with…
The application of unmanned aerial vehicles (UAV) has been widely extended recently. It is crucial to ensure accurate latitude and longitude coordinates for UAVs, especially when the global navigation satellite systems (GNSS) are disrupted…
The North Slope of Alaska is dominated by small waterbodies that provide critical ecosystem services for local population and wildlife. Detailed information on the depth of the waterbodies is scarce due to the challenges with collecting…
The progress in maritime obstacle detection is hindered by the lack of a diverse dataset that adequately captures the complexity of general maritime environments. We present the first maritime panoptic obstacle detection benchmark LaRS,…
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…
Localization is an important required task for enabling vehicle autonomy for underwater vehicles. Localization entails the determination of position of the center of mass and orientation of a vehicle from the available measurements. In this…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
Fast forecasting of reservoir pressure distribution in geologic carbon storage (GCS) by assimilating monitoring data is a challenging problem. Due to high drilling cost, GCS projects usually have spatially sparse measurements from wells,…
For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…
Geopositioning and tracking a moving boat at sea is a very challenging problem, requiring boat detection, matching and estimating its GPS location from imagery with no common features. The problem can be stated as follows: given imagery…
Sonar sensing is fundamental for underwater robotics, but limited by capabilities of AI systems, which need large training datasets. Public data in sonar modalities is lacking. This paper presents the Marine Debris Forward-Looking Sonar…
A lot of work has been done to reach the best possible performance of predictive models on images. There are fewer studies about the resilience of these models when they are trained on image datasets that suffer modifications altering their…