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Sonar is often the only modality suitable for high-resolution imaging underwater due to light attenuation and turbidity. Forward-looking imaging sonar provides measurements over range and horizontal angle but collapses vertical structure…
Acoustic sonar imaging systems are widely used for underwater surveillance in both civilian and military sectors. However, acquiring high-quality sonar datasets for training Artificial Intelligence (AI) models confronts challenges such as…
Depth sensing is a critical component of autonomous driving technologies, but today's LiDAR- or stereo camera-based solutions have limited range. We seek to increase the maximum range of self-driving vehicles' depth perception modules for…
Subsea images measured by the side scan sonars (SSSs) are necessary visual data in the process of deep-sea exploration by using the autonomous underwater vehicles (AUVs). They could vividly reflect the topography of the seabed, but usually…
Maritime Autonomous Surface Ships (MASS) have emerged as a promising solution to enhance navigational safety, operational efficiency, and long-term cost effectiveness. However, their reliable deployment requires rigorous verification and…
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…
Water quality monitoring is essential for protecting aquatic ecosystems and detecting environmental pollution. This paper presents the design and experimental validation of a bio-inspired miniature submarine for low-cost water quality…
Among underwater perceptual sensors, imaging sonar has been highlighted for its perceptual robustness underwater. The major challenge of imaging sonar, however, arises from the difficulty in defining visual features despite limited…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and…
The preservation, monitoring, and control of water resources has been a major challenge in recent decades. Water resources must be constantly monitored to know the contamination levels of water. To meet this objective, this paper proposes a…
Accurate 3D volumetric mapping is critical for autonomous underwater vehicles operating in obstacle-rich environments. Vision-based perception provides high-resolution data but fails in turbid conditions, while sonar is robust to lighting…
Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. 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…
Simultaneous localization and mapping (SLAM) frameworks for autonomous navigation rely on robust data association to identify loop closures for back-end trajectory optimization. In the case of autonomous underwater vehicles (AUVs) equipped…
Publicly available satellite imagery can be an ubiquitous, cheap, and powerful tool for vehicle localisation when a prior sensor map is unavailable. However, satellite images are not directly comparable to data from ground range sensors…
Artificial Water Bodies (AWBs) are human-made systems that require continuous monitoring due to their artificial biological processes. These systems demand regular maintenance to manage their ecosystems effectively. As a result of these…
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
In the past decade, the adoption of compact 3D range sensors, such as LiDARs, has driven the developments of robust state-estimation pipelines, making them a standard sensor for aerial, ground, and space autonomy. Unfortunately, poor…
This paper presents a novel autonomous surface vessel (ASV), called Roboat II for urban transportation. Roboat II is capable of accurate simultaneous localization and mapping (SLAM), receding horizon tracking control and estimation, and…