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Unmanned aerial vehicle (UAV) photogrammetry allows for the creation of orthophotos and digital surface models (DSMs) of a terrain. However, DSMs of water bodies mapped with this technique reveal water surface distortions, preventing the…
Semantic Bird's Eye View (BEV) maps offer a rich representation with strong occlusion reasoning for various decision making tasks in autonomous driving. However, most BEV mapping approaches employ a fully supervised learning paradigm that…
One of the primary means of sea exploration is autonomous underwater vehicles (AUVs). To perform these tasks, AUVs must navigate the rough challenging sea environment. AUVs usually employ an inertial navigation system (INS), aided by a…
Yaw estimation of boats from the viewpoint of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) or boats is a crucial task in various applications such as 3D scene rendering, trajectory prediction, and navigation.…
This paper presents the design, development, and experimental validation of MARVEL, an autonomous unmanned surface vehicle built for real-world testing of sensor fusion-based navigation algorithms in GNSS-denied environments. MARVEL was…
Self-supervised learning methods are attractive candidates for automatic object picking. However, the trial samples lack the complete ground truth because the observable parts of the agent are limited. That is, the information contained in…
Localization is a critical technology in autonomous driving, encompassing both topological localization, which identifies the most similar map keyframe to the current observation, and metric localization, which provides precise spatial…
Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by sensor uncertainty and platform-induced disturbances such as…
Artificial Water Bodies (AWBs) are human-made and require continuous monitoring due to their artificial biological processes. These systems necessitate regular maintenance to manage their ecosystems effectively. Unmanned Surface Vehicle…
Implicit neural representations and neural rendering have gained increasing attention for bathymetry estimation from sidescan sonar (SSS). These methods incorporate multiple observations of the same place from SSS data to constrain the…
For many practical problems and applications, it is not feasible to create a vast and accurately labeled dataset, which restricts the application of deep learning in many areas. Semi-supervised learning algorithms intend to improve…
In this paper, we present an autonomous unmanned aerial vehicle (UAV) landing system based on visual navigation. We design the landmark as a topological pattern in order to enable the UAV to distinguish the landmark from the environment…
Precise landing of Unmanned Aerial Vehicles (UAVs) onto moving platforms like Autonomous Surface Vehicles (ASVs) is both important and challenging, especially in GPS-denied environments, for collaborative navigation of heterogeneous…
Vessel segmentation is an essential task in many clinical applications. Although supervised methods have achieved state-of-art performance, acquiring expert annotation is laborious and mostly limited for two-dimensional datasets with a…
In defense-related remote sensing applications, such as vehicle detection on satellite imagery, supervised learning requires a huge number of labeled examples to reach operational performances. Such data are challenging to obtain as it…
Self-supervised learning has driven significant progress in learning from single-subject, iconic images. However, there are still unanswered questions about the use of minimally-curated, naturalistic video data, which contain dense scenes…
Next Best View computation (NBV) is a long-standing problem in robotics, and consists in identifying the next most informative sensor position(s) for reconstructing a 3D object or scene efficiently and accurately. Like most current methods,…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…
Unmanned Aerial Vehicles (UAVs) are of crucial importance in search and rescue missions in maritime environments due to their flexible and fast operation capabilities. Modern computer vision algorithms are of great interest in aiding such…
Autonomous underwater vehicles are specialized platforms engineered for deep underwater operations. Critical to their functionality is autonomous navigation, typically relying on an inertial navigation system and a Doppler velocity log. In…