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We discuss the problem in which an autonomous vehicle must classify an object based on multiple views. We focus on the active classification setting, where the vehicle controls which views to select to best perform the classification. The…
In this paper we address the mine countermeasures (MCM) search problem for an autonomous underwater vehicle (AUV) surveying the seabed using a side-looking sonar. We propose a coverage path planning method that adapts the AUV track spacing…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is frequently deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, using side-scan images to perform simultaneous localization and…
Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that…
Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…
Under the sea, visible spectrum cameras have limited sensing capacity, being able to detect objects only in clear water, but in a constrained range. Considering any sea water condition, sonars are more suitable to support autonomous…
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…
To carry out autonomous 3D scanning and online reconstruction of unknown indoor scenes, one has to find a balance between global exploration of the entire scene and local scanning of the objects within it. In this work, we propose a novel…
When employing underwater vehicles for the autonomous inspection of assets, it is crucial to consider and assess the water conditions. These conditions significantly impact visibility and directly affect robotic operations. Turbidity can…
Sidescan sonar is a small and cost-effective sensing solution that can be easily mounted on most vessels. Historically, it has been used to produce high-definition images that experts may use to identify targets on the seafloor or in the…
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…
Recent advancements in perception for autonomous driving are driven by deep learning. In order to achieve robust and accurate scene understanding, autonomous vehicles are usually equipped with different sensors (e.g. cameras, LiDARs,…
This paper details a new method to recognize and detect underwater objects in real-time sidescan sonar data imagery streams, with case-studies of applications for underwater archeology, and ghost fishing gear retrieval. We first synthesize…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
Autonomous underwater vehicles (AUVs) rely on a variety of sensors - acoustic, inertial and visual - for intelligent decision making. Due to its non-intrusive, passive nature, and high information content, vision is an attractive sensing…
Side-scan sonar (SSS) imagery presents unique challenges in the classification of man-made objects on the seafloor due to the complex and varied underwater environments. Historically, experts have manually interpreted SSS images, relying on…
Autonomous mobile robots (AMRs) equipped with high-quality cameras have revolutionized the field of inspections by providing efficient and cost-effective means of conducting surveys. The use of autonomous inspection is becoming more…
Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…
Real-time efficient perception is critical for autonomous navigation and city scale sensing. Orthogonal to architectural improvements, streaming perception approaches have exploited adaptive sampling improving real-time detection…