Related papers: AquaVis: A Perception-Aware Autonomous Navigation …
This paper studies trajectory optimization of an autonomous underwater vehicle (AUV) to track an unknown maneuvering target both in the 2D and 3D space. Due to the restrictions on sensing capabilities in the underwater scenario, the AUV is…
Although methods for estimating the pose of objects in indoor scenes have achieved great success, the pose estimation of underwater objects remains challenging due to difficulties brought by the complex underwater environment, such as…
Autonomous underwater vehicles (AUVs) are used in a wide range of underwater applications, ranging from seafloor mapping to industrial operations. While underwater, the AUV navigation solution commonly relies on the fusion between inertial…
The use of Autonomous Surface Vehicles, equipped with water quality sensors and artificial vision systems, allows for a smart and adaptive deployment in water resources environmental monitoring. This paper presents a real implementation of…
The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
Intelligent detection and tracking of the vessels on the sea play a significant role in conducting traffic avoidance in unmanned surface vessels(USV). Current traffic avoidance software relies mainly on Automated Identification System (AIS)…
The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…
Panoptic Driving Perception (PDP) is critical for the autonomous navigation of Unmanned Surface Vehicles (USVs). A PDP model typically integrates multiple tasks, necessitating the simultaneous and robust execution of various perception…
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 underwater world remains largely unexplored, with Autonomous Underwater Vehicles (AUVs) playing a crucial role in sub-sea explorations. However, continuous monitoring of underwater environments using AUVs can generate a significant…
Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered…
Autonomous navigation in the underwater environment is challenging due to limited visibility, dynamic changes, and the lack of a cost-efficient accurate localization system. We introduce UIVNav, a novel end-to-end underwater navigation…
Autonomous underwater vehicles (AUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex, dynamic underwater environments. This paper introduces an…
The last decades have witnessed the breakthrough of autonomous vehicles (AVs), and the perception capabilities of AVs have been dramatically improved. Various sensors installed on AVs, including, but are not limited to, LiDAR, radar, camera…
We present a safety-oriented framework for autonomous underwater vehicles (AUVs) that improves localization accuracy, enhances trajectory prediction, and supports efficient search operations during communication loss. Acoustic signals…
Camera-equipped unmanned vehicles (UVs) have received a lot of attention in data collection for construction monitoring applications. To develop an autonomous platform, the UV should be able to process multiple modules (e.g.,…
Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…
Bird's-Eye-View (BEV) perception has become a vital component of autonomous driving systems due to its ability to integrate multiple sensor inputs into a unified representation, enhancing performance in various downstream tasks. However,…
Multi-Object Tracking is one of the most important technologies in maritime computer vision. Our solution tries to explore Multi-Object Tracking in maritime Unmanned Aerial vehicles (UAVs) and Unmanned Surface Vehicles (USVs) usage…