Related papers: Shallow Water Bathymetry Survey using an Autonomou…
Water quality mapping for critical parameters such as temperature, salinity, and turbidity is crucial for assessing an aquaculture farm's health and yield capacity. Traditional approaches involve using boats or human divers, which are…
Oceanic processes at fine scales are crucial yet difficult to observe accurately due to limitations in satellite and in-situ measurements. The Surface Water and Ocean Topography (SWOT) mission provides high-resolution Sea Surface Height…
Recent advances in deep learning technology have triggered radical progress in the autonomy of ground vehicles. Marine coastal Autonomous Surface Vehicles (ASVs) that are regularly used for surveillance, monitoring and other routine tasks…
In autonomous driving, perception systems are piv otal as they interpret sensory data to understand the envi ronment, which is essential for decision-making and planning. Ensuring the safety of these perception systems is fundamental for…
Abandoned oil and gas wells pose significant environmental risks due to the potential leakage of hydrocarbons, brine and chemical pollutants. Detecting such leaks remains extremely challenging due to the weak acoustic emission and high…
Moving loads such as cars and trains are very useful sources of seismic waves, which can be analyzed to retrieve information on the seismic velocity of subsurface materials using the techniques of ambient noise seismology. This information…
In this paper, we propose an efficient and accurate method for autonomous surface vehicles to generate a smooth and collision-free trajectory considering its dynamics constraints. We decouple the trajectory planning problem as a front-end…
Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which…
We present a real-time dense geometric mapping algorithm for large-scale environments. Unlike existing methods which use pinhole cameras, our implementation is based on fisheye cameras which have larger field of view and benefit some other…
Depth estimation from a single underwater image is one of the most challenging problems and is highly ill-posed. Due to the absence of large generalized underwater depth datasets and the difficulty in obtaining ground truth depth-maps,…
In this paper we introduce a semi-analytical model for bathymetry, water turbidity and bottom composition; which is primarily based on the physics-based model, HOPE, of Lee et al. Unlike the model of Lee, which was originally designed to…
The research presented in this paper is aimed at developing a control algorithm for an autonomous surface system carrying a two-sensor array consisting of two acoustic receivers, capable of measuring the time-difference-of-arrival (TDOA) of…
Satellite-based remote sensing missions have revolutionized our understanding of the Ocean state and dynamics. Among them, space-borne altimetry provides valuable Sea Surface Height (SSH) measurements, used to estimate surface geostrophic…
Autonomous navigation is needed for several robotics applications. In this paper we present an autonomous Micro Aerial Vehicle (MAV) system which purely relies on cost-effective and light-weight passive visual and inertial sensors to…
The underactuated vehicles are apposite for the long-term deployment and data collection in spatiotemporally varying marine environments. However, these vehicles need to estimate their positions (states) with intrinsic sensing in their…
Unmanned Aerial Vehicles (UAVs) equipped with LiDAR, electro-optical and infrared cameras, SAR and atmospheric sensors have transformed the way we acquire high spatio-temporal resolution data. For example, UAVs equipped with these sensors…
In the field of deep-sea exploration, sonar is presently the only efficient long-distance sensing device. The complicated underwater environment, such as noise interference, low target intensity or background dynamics, has brought many…
Swarms of autonomous surface vehicles equipped with environmental sensors and decentralized communications bring a new wave of attractive possibilities for the monitoring of dynamic features in oceans and other waterbodies. However, a key…
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…
Synthetic aperture imaging systems achieve constant azimuth resolution by coherently summating the observations acquired along the aperture path. At this aim, their locations have to be known with subwavelength accuracy. In underwater…