Related papers: Learning Underwater Active Perception in Simulatio…
In an underwater scene, wavelength-dependent light absorption and scattering degrade the visibility of images, causing low contrast and distorted color casts. To address this problem, we propose a convolutional neural network based image…
Autonomous surface vessels for floating-waste removal operate under varying hydrodynamics, external disturbances, and challenging water-surface perception. We present a field-validated system that combines camera-based polarimetric…
Due to the absorption and scattering effects of the water, underwater images tend to suffer from many severe problems, such as low contrast, grayed out colors and blurring content. To improve the visual quality of underwater images, we…
Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…
Underwater cameras are widely used to observe the sea floor. They are usually included in autonomous underwater vehicles, unmanned underwater vehicles, and in situ ocean sensor networks. Despite being an important sensor for monitoring…
The success of deep learning in intelligent ship visual perception relies heavily on rich image data. However, dedicated datasets for inland waterway vessels remain scarce, limiting the adaptability of visual perception systems in complex…
The proliferation of floating anthropogenic debris in rivers has emerged as a pressing environmental concern, exerting a detrimental influence on biodiversity, water quality, and human activities such as navigation and recreation. The…
Within the field of automated driving, a clear trend in environment perception tends towards more sensors, higher redundancy, and overall increase in computational power. This is mainly driven by the paradigm to perceive the entire…
Simulation of fluid flow in porous media has many applications, from the micro-scale (cell membranes, filters, rocks) to macro-scale (groundwater, hydrocarbon reservoirs, and geothermal) and beyond. Direct simulation of flow in porous media…
Accurate localization is fundamental for autonomous underwater vehicles (AUVs) to carry out precise tasks, such as manipulation and construction. Vision-based solutions using fiducial marker are promising, but extremely challenging…
Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…
Underwater degraded images greatly challenge existing algorithms to detect objects of interest. Recently, researchers attempt to adopt attention mechanisms or composite connections for improving the feature representation of detectors.…
Underwater photography presents significant inherent challenges including reduced contrast, spatial blur, and wavelength-dependent color distortions. These effects can obscure the vibrancy of marine life and awareness photographers in…
Subterranean environments such as culverts present significant challenges to robot vision due to dim lighting and lack of distinctive features. Although onboard illumination can help, it introduces issues such as specular reflections,…
Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…
Recent advances in automated vehicles have focused on improving perception performance under adverse weather conditions; however, research on physical hardware solutions remains limited, despite their importance for perception critical…
Underwater imaging is a critical task performed by marine robots for a wide range of applications including aquaculture, marine infrastructure inspection, and environmental monitoring. However, water column effects, such as attenuation and…
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 paper presents a novel approach for enabling robust robotic perception in dark environments using infrared (IR) stream. IR stream is less susceptible to noise than RGB in low-light conditions. However, it is dominated by active emitter…
Successful applications of complex vision-based behaviours underwater have lagged behind progress in terrestrial and aerial domains. This is largely due to the degraded image quality resulting from the physical phenomena involved in…