Related papers: OceanSim: A GPU-Accelerated Underwater Robot Perce…
We present a novel algorithm for real-time planar semantic mapping tailored for humanoid robots navigating complex terrains such as staircases. Our method is adaptable to any odometry input and leverages GPU-accelerated processes for planar…
Tensor network algorithms can efficiently simulate complex quantum many-body systems by utilizing knowledge of their structure and entanglement. These methodologies have been adapted recently for solving the Navier-Stokes equations, which…
The Segment Anything Model (SAM) has revolutionized natural image segmentation, nevertheless, its performance on underwater images is still restricted. This work presents AquaSAM, the first attempt to extend the success of SAM on underwater…
Autonomous vehicles rely heavily upon their perception subsystems to see the environment in which they operate. Unfortunately, the effect of variable weather conditions presents a significant challenge to object detection algorithms, and…
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…
Existing evaluation paradigms for Autonomous Vehicles (AVs) face critical limitations. Real-world evaluation is often challenging due to safety concerns and a lack of reproducibility, whereas closed-loop simulation can face insufficient…
Predicting motions of vessels in extreme sea states represents one of the most challenging problems in naval hydrodynamics. It involves computing complex nonlinear wave-body interactions, hence taxing heavily computational resources. Here,…
Faster explicit elastic wavefield simulations are required for large and complex three-dimensional media using a structured finite element method. Such wavefield simulations are suitable for GPUs, which have exhibited improved computational…
Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual…
In-situ visual observations of marine organisms is crucial to developing behavioural understandings and their relations to their surrounding ecosystem. Typically, these observations are collected via divers, tags, and remotely-operated or…
In an era where maritime infrastructures are crucial, advanced situational awareness solutions are increasingly important. The use of optical camera systems can allow real-time usage of maritime footage. This thesis presents an…
Simulating large-scale microswimmer dynamics in viscous fluid poses significant challenges due to the coupled high spatial and temporal complexity. Conventional high-performance computing (HPC) methods often address these two dimensions in…
Turbulent flows and fluid-structure interactions (FSI) are ubiquitous in scientific and engineering applications, but their accurate and efficient simulation remains a major challenge due to strong nonlinearities, multiscale interactions,…
In this paper, we present the first large-scale dataset for semantic Segmentation of Underwater IMagery (SUIM). It contains over 1500 images with pixel annotations for eight object categories: fish (vertebrates), reefs (invertebrates),…
Autonomous underwater robots are increasingly deployed for environmental monitoring, infrastructure inspection, subsea resource exploration, and long-horizon exploration. Yet, despite rapid advances in learning-based planning and control,…
In this paper a new scalable hydrodynamic code GPUPEGAS (GPU-accelerated PErformance Gas Astrophysic Simulation) for simulation of interacting galaxies is proposed. The code is based on combination of Godunov method as well as on the…
Existing underwater SLAM systems are difficult to work effectively in texture-sparse and geometrically degraded underwater environments, resulting in intermittent tracking and sparse mapping. Therefore, we present Water-DSLAM, a novel…
The future robots are expected to work in a shared physical space with humans [1], however, the presence of humans leads to a dynamic environment that is challenging for mobile robots to navigate. The path planning algorithms designed to…
Underwater ROVs (Remotely Operated Vehicles) are indispensable for subsea exploration and task execution, yet typical teleoperation engines based on egocentric (first-person) video feeds restrict human operators' field-of-view and limit…
Urban water-surface robust perception serves as the foundation for intelligent monitoring of aquatic environments and the autonomous navigation and operation of unmanned vessels, especially in the context of waterway safety. It is worth…