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This paper is focused on delivering a solution that can scan and reconstruct the 3D profile of a pipeline in real-time using a crawler robot. A structured infrared (IR) laser ring projector and a stereo camera system are used to generate…
Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…
Underwater robotic surveys can be costly due to the complex working environment and the need for various sensor modalities. While underwater simulators are essential, many existing simulators lack sufficient rendering quality, restricting…
Gas leaks pose significant risks to human health and the environment. Despite long-standing concerns, there are limited methods that can efficiently and accurately detect and segment leaks due to their concealed appearance and random…
Detecting small objects over large areas remains a significant challenge in satellite imagery analytics. Among the challenges is the sheer number of pixels and geographical extent per image: a single DigitalGlobe satellite image encompasses…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
We describe an unsupervised method to detect and segment portions of images of live scenes that, at some point in time, are seen moving as a coherent whole, which we refer to as objects. Our method first partitions the motion field by…
Depth cameras are frequently used in robotic manipulation, e.g. for visual servoing. The quality of small and compact depth cameras is though often not sufficient for depth reconstruction, which is required for precise tracking in and…
Underwater monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle to produce maps with high-fidelity rendering. In this paper,…
Visual localization tackles the challenge of estimating the camera pose from images by using correspondence analysis between query images and a map. This task is computation and data intensive which poses challenges on thorough evaluation…
Marine biodiversity monitoring requires scalability and reliability across complex underwater environments to support conservation and invasive-species management. Yet existing detection solutions often exhibit a pronounced deployment gap,…
While prior works have investigated and developed computational models capable of object detection, models still struggle to reliably interpret images with motion blur and small objects. Moreover, none of these models are specifically…
Plastic waste entering the riverine harms local ecosystems leading to negative ecological and economic impacts. Large parcels of plastic waste are transported from inland to oceans leading to a global scale problem of floating debris…
The SVOM Visible Telescope (VT) is critical for the rapid identification of gamma-ray burst (GRB) optical counterparts, particularly for high-redshift candidates that require immediate infrared spectroscopic follow-up. To address the…
Obstacle detection is one of the basic tasks of a robot movement in an unknown environment. The use of a LiDAR (Light Detection And Ranging) sensor allows one to obtain a point cloud in the vicinity of the sensor. After processing this…
Unmanned Aerial Vehicles (UAVs) are crucial in Search and Rescue (SAR) missions due to their ability to monitor vast maritime areas. However, small objects often remain difficult to detect from high altitudes due to low object-to-background…
Self-supervised learning (SSL) methods have become a dominant paradigm for creating general purpose models whose capabilities can be transferred to downstream supervised learning tasks. However, most such methods rely on vast amounts of…
The LIght Detection And Ranging (LiDAR) sensor has become one of the most important perceptual devices due to its important role in simultaneous localization and mapping (SLAM). Existing SLAM methods are mainly developed for mechanical…
Accurate 3D scene interpretation in active construction sites is essential for progress monitoring, safety assessment, and digital twin development. LiDAR is widely used in construction because it offers advantages over camera-based…
The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…