Related papers: A Multi-Modal Approach Based on Large Vision Model…
Drones, or general UAVs, equipped with a single camera have been widely deployed to a broad range of applications, such as aerial photography, fast goods delivery and most importantly, surveillance. Despite the great progress achieved in…
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…
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…
This paper addresses the limitations of current datasets for 3D vision tasks in terms of accuracy, size, realism, and suitable imaging modalities for photometrically challenging objects. We propose a novel annotation and acquisition…
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…
Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…
This letter proposes a novel approach for compensating target height data in 2D seabed mosaicking for low-visibility underwater perception. Acoustic cameras are effective sensors for sensing the marine environments due to their…
Cross-view image matches have been widely explored on terrestrial image localization using aerial images from drones or satellites. This study expands the cross-view image match idea and proposes a cross-domain and cross-view localization…
Underwater acoustic technologies are a key component for exploring the behavior of marine megafauna such as sea turtles, sharks, and seals. The animals are marked with acoustic devices (tags) that periodically emit signals encoding the…
This paper introduces an underwater multi-robot platform, named Aucamp, characterized by cost-effective monocular-camera-based sensing, distributed protocol and robust orientation control for localization. We utilize the clarity feature to…
Multi-object tracking (MOT) in computer vision has made significant advancements, yet tracking small fish in underwater environments presents unique challenges due to complex 3D motions and data noise. Traditional single-view MOT models…
Object counting and localization are key steps for quantitative analysis in large-scale microscopy applications. This procedure becomes challenging when target objects are overlapping, are densely clustered, and/or present fuzzy boundaries.…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
Small object detection (SOD) in optical images and videos is a challenging problem that even state-of-the-art generic object detection methods fail to accurately localize and identify such objects. Typically, small objects appear in…
While the satellite-based Global Positioning System (GPS) is adequate for some outdoor applications, many other applications are held back by its multi-meter positioning errors and poor indoor coverage. In this paper, we study the…
Localization of sensor nodes in the Internet of Underwater Things (IoUT) is of considerable significance due to its various applications, such as navigation, data tagging, and detection of underwater objects. Therefore, in this paper, we…
Underwater monitoring and surveillance systems are essential for underwater target detection, localization and classification. The aim of this work is to investigate the possibility of target detection by using data transmission between…
In this paper, we present a comprehensive investigation of the challenges of Monocular Visual Simultaneous Localization and Mapping (vSLAM) methods for underwater robots. While significant progress has been made in state estimation methods…
Underwater object detection (UOD) is vital to diverse marine applications, including oceanographic research, underwater robotics, and marine conservation. However, UOD faces numerous challenges that compromise its performance. Over the…
Multi-object tracking (MOT) aims to associate target objects across video frames in order to obtain entire moving trajectories. With the advancement of deep neural networks and the increasing demand for intelligent video analysis, MOT has…