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We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawbacks associated with…
This letter presents an effective method for assessing the feasibility of detecting ocean ships using spaceborne synthetic aperture radar (SAR). The technique employs the minimum detectable radar cross-section criterion under specified…
Object detection in sonar images is crucial for underwater robotics applications including autonomous navigation and resource exploration. However, complex noise patterns inherent in sonar imagery, particularly speckle, reverberation, and…
This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a learning-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such…
We present BEV-SLD, a LiDAR global localization method building on the Scene Landmark Detection (SLD) concept. Unlike scene-agnostic pipelines, our self-supervised approach leverages bird's-eye-view (BEV) images to discover scene-specific…
Modern on-road navigation systems heavily depend on integrating speed measurements with inertial navigation systems (INS) and global navigation satellite systems (GNSS). Telemetry-based applications typically source speed data from the…
In this paper, a deep learning approach is presented for direction of arrival estimation using automotive-grade ultrasonic sensors which are used for driving assistance systems such as automatic parking. A study and implementation of the…
Recent advancements in LiDAR technology have significantly lowered costs and improved both its precision and resolution, thereby solidifying its role as a critical component in autonomous vehicle localization. Using sophisticated 3D…
Based on the need for high resolution underwater visual surveys, this study presents the adaptation of an existing SPARUS II autonomous underwater vehicle (AUV) into an entirely hovering AUV fully capable of performing autonomous, close…
Underwater sensor networks are anticipated to facilitate numerous commercial and military applications. Moreover, precise self-localization in practical underwater scenario is a crucial challenge in sensor networks because of the complexity…
Simultaneous Localization and Mapping (SLAM) is one of the key robotics tasks as it tackles simultaneous mapping of the unknown environment defined by multiple landmark positions and localization of the unknown pose (i.e., attitude and…
Each year, numerous segmentation and classification algorithms are invented or reused to solve problems where machine vision is needed. Generally, the efficiency of these algorithms is compared against the results given by one or many human…
This letter introduces a novel unmanned aerial vehicle (UAV)-intelligent reflecting surface (IRS) structure into near-field localization systems to enhance the design flexibility of IRS, thereby obtaining additional performance gains.…
Spatial regression of random fields based on potentially biased sensing information is proposed in this paper. One major concern in such applications is that since it is not known a-priori what the accuracy of the collected data from each…
In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection…
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between…
Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…
Localization is a fundamental task in robotics for autonomous navigation. Existing localization methods rely on a single input data modality or train several computational models to process different modalities. This leads to stringent…
Autonomous Underwater Vehicles (AUVs) have the ability to operate in harsh underwater environments without endangering human lives in the process. Nevertheless, just like their ground and aerial counterparts, AUVs need to be able to…
Accurate detection and segmentation of marine debris is important for keeping the water bodies clean. This paper presents a novel dataset for marine debris segmentation collected using a Forward Looking Sonar (FLS). The dataset consists of…