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We present a new method to adapt an RGB-trained water segmentation network to target-domain aerial thermal imagery using online self-supervision by leveraging texture and motion cues as supervisory signals. This new thermal capability…

Obstacle detection by semantic segmentation shows a great promise for autonomous navigation in unmanned surface vehicles (USV). However, existing methods suffer from poor estimation of the water edge in the presence of visual ambiguities,…

UAV-borne hyperspectral remote sensing has emerged as a promising approach for underwater target detection (UTD). However, its effectiveness is hindered by spectral distortions in nearshore environments, which compromise the accuracy of…

Reconstructing high-fidelity underwater scenes remains a challenging task due to light absorption, scattering, and limited visibility inherent in aquatic environments. This paper presents an enhanced Gaussian Splatting-based framework that…

Underwater salient object detection (USOD) has attracted increasing attention for underwater visual scene understanding and vision-guided robotic applications. However, existing USOD methods still struggle with underwater image…

Underwater images typically experience mixed degradations of brightness and structure caused by the absorption and scattering of light by suspended particles. To address this issue, we propose a Real-time Spatial and Frequency Domains…

Deep learning-based coastline detection algorithms have begun to outshine traditional statistical methods in recent years. However, they are usually trained only as single-purpose models to either segment land and water or delineate the…

One of the main challenges in deep learning-based underwater image enhancement is the limited availability of high-quality training data. Underwater images are difficult to capture and are often of poor quality due to the distortion and…

Semantic segmentation methods have advanced significantly. Still, their robustness to real-world perturbations and object types not seen during training remains a challenge, particularly in safety-critical applications. We propose a novel…

As an attempt towards assessing the robustness of embodied navigation agents, we propose RobustNav, a framework to quantify the performance of embodied navigation agents when exposed to a wide variety of visual - affecting RGB inputs - and…

Many deep learning based methods have been proposed for retinal vessel segmentation, however few of them focus on the connectivity of segmented vessels, which is quite important for a practical computer-aided diagnosis system on retinal…

Underwater images are inevitably affected by color distortion and reduced contrast. Traditional statistic-based methods such as white balance and histogram stretching attempted to adjust the imbalance of color channels and narrow…

Road surface classification (RSC) is a key enabler for environment-aware predictive maintenance systems. However, existing RSC techniques often fail to generalize beyond narrow operational conditions due to limited sensing modalities and…

Multimodal learning leverages complementary information derived from different modalities, thereby enhancing performance in medical image segmentation. However, prevailing multimodal learning methods heavily rely on extensive well-annotated…

Autonomous Unmanned Aerial Vehicles (UAVs) must reliably detect thin obstacles such as wires, poles, and branches to navigate safely in real-world environments. These structures remain difficult to perceive because they occupy few pixels,…

Scene recognition, particularly for aerial and underwater images, often suffers from various types of degradation, such as blurring or overexposure. Previous works that focus on convolutional neural networks have been shown to be able to…

Small-sized unmanned surface vehicles (USV) are coastal water devices with a broad range of applications such as environmental control and surveillance. A crucial capability for autonomous operation is obstacle detection for timely reaction…

The caliber and configuration of retinal blood vessels serve as important biomarkers for various diseases and medical conditions. A thorough analysis of the retinal vasculature requires the segmentation of the blood vessels and their…

We develop a connection sensitive attention U-Net(CSAU) for accurate retinal vessel segmentation. This method improves the recent attention U-Net for semantic segmentation with four key improvements: (1) connection sensitive loss that…

In this report, we describe the technical details of our submission to the 2024 RoboDrive Challenge Robust Map Segmentation Track. The Robust Map Segmentation track focuses on the segmentation of complex driving scene elements in BEV maps…