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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…
Object pose estimation underwater allows an autonomous system to perform tracking and intervention tasks. Nonetheless, underwater target pose estimation is remarkably challenging due to, among many factors, limited visibility, light…
Combining synthetic aperture sonar (SAS) imagery with optical images for underwater object classification has the potential to overcome challenges such as water clarity, the stability of the optical image analysis platform, and strong…
In the recent decade, electronic technology gets advanced day by day the methodologies too should update. For the purpose of ranging various methods such Radio Detection and Ranging (RADAR), Light Detection and Ranging (LIDAR) and Sonic…
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…
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…
Autonomous navigation in underwater environments presents challenges due to factors such as light absorption and water turbidity, limiting the effectiveness of optical sensors. Sonar systems are commonly used for perception in underwater…
Underwater image enhancement plays a crucial role in providing reliable visual information for underwater platforms, since strong absorption and scattering in water-related environments generally lead to image quality degradation. Existing…
This work reviews the problem of object detection in underwater environments. We analyse and quantify the shortcomings of conventional state-of-the-art (SOTA) algorithms in the computer vision community when applied to this challenging…
Object detection in sonar images is a key technology in underwater detection systems. Compared to natural images, sonar images contain fewer texture details and are more susceptible to noise, making it difficult for non-experts to…
Small object detection (SOD) is a critical yet challenging task in computer vision, with applications like spanning surveillance, autonomous systems, medical imaging, and remote sensing. Unlike larger objects, small objects contain limited…
This study explores the application of self-supervised learning (SSL) for improved target recognition in synthetic aperture sonar (SAS) imagery. The unique challenges of underwater environments make traditional computer vision techniques,…
This paper explores the design and development of a class of robust diver-following algorithms for autonomous underwater robots. By considering the operational challenges for underwater visual tracking in diverse real-world settings, we…
Sonar imaging is fundamental to underwater exploration, with critical applications in defense, navigation, and marine research. Shadow regions, in particular, provide essential cues for object detection and classification, yet existing…
Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…
Deep neural networks designed for vision tasks are often prone to failure when they encounter environmental conditions not covered by the training data. Single-modal strategies are insufficient when the sensor fails to acquire information…
Robots operating at night using conventional vision cameras face significant challenges in reconstruction due to noise-limited images. Previous work has demonstrated that burst-imaging techniques can be used to partially overcome this…
In the emerging advancement in the branch of autonomous robotics, the ability of a robot to efficiently localize and construct maps of its surrounding is crucial. This paper deals with utilizing thermal-infrared cameras, as opposed to…
Underwater imagery often suffers from severe degradation resulting in low visual quality and reduced object detection performance. This work aims to evaluate state-of-the-art image enhancement models, investigate their effects on underwater…
This article focuses on feature-based underwater localization and navigation for autonomous underwater vehicles (AUVs) using 2D imaging sonar measurements. The sparsity of underwater acoustic features and the loss of elevation angle in…