相关论文: A vision based system for underwater docking

The oceans in the Earth's in one of the last border lines on the World, with only a fraction of their depths having been explored. Advancements in technology have led to the development of Autonomous Underwater Vehicles (AUVs) that can…

Underwater visual enhancement (UVE) and underwater 3D reconstruction pose significant challenges in computer vision and AI-based tasks due to complex imaging conditions in aquatic environments. Despite the development of numerous…

Drowning is an omnipresent risk associated with any activity on or in the water, and rescuing a drowning person is particularly challenging because of the time pressure, making a short response time important. Further complicating water…

With the advancement of collaborative perception, the role of aerial-ground collaborative perception, a crucial component, is becoming increasingly important. The demand for collaborative perception across different perspectives to…

While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…

Object-relative mobile robot navigation is essential for a variety of tasks, e.g. autonomous critical infrastructure inspection, but requires the capability to extract semantic information about the objects of interest from raw sensory…

Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and…

We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…

As an alternative sensing paradigm, dynamic vision sensors (DVS) have been recently explored to tackle scenarios where conventional sensors result in high data rate and processing time. This paper presents a hybrid event-frame approach for…

Determining the relative pose of a previously unseen object between two images is pivotal to the success of generalizable object pose estimation. Existing approaches typically predict 3D translation utilizing the ground-truth object…

Unmanned aerial vehicles (UAV) have been widely used in various fields, and their invasion of security and privacy has aroused social concern. Several detection and tracking systems for UAVs have been introduced in recent years, but most of…

The emergence of water-proof mobile and wearable devices (e.g., Garmin Descent and Apple Watch Ultra) designed for underwater activities like professional scuba diving, opens up opportunities for underwater networking and localization…

Owing to effective and flexible data acquisition, unmanned aerial vehicle (UAV) has recently become a hotspot across the fields of computer vision (CV) and remote sensing (RS). Inspired by recent success of deep learning (DL), many advanced…

While pose estimation is an important computer vision task, it requires expensive annotation and suffers from domain shift. In this paper, we investigate the problem of domain adaptive 2D pose estimation that transfers knowledge learned on…

Autonomous Underwater Vehicle (AUV) docking in dynamic and uncertain environments is a critical challenge for underwater robotics. Reinforcement learning is a promising method for developing robust controllers, but the disparity between…

QuadPlanes combine the range efficiency of fixed-wing aircraft with the maneuverability of multi-rotor platforms for long-range autonomous missions. In GPS-denied or cluttered urban environments, perception-based landing is vital for…

Visual Odometry (VO) estimation is an important source of information for vehicle state estimation and autonomous driving. Recently, deep learning based approaches have begun to appear in the literature. However, in the context of driving,…

On-board estimation of the pose of an uncooperative target spacecraft is an essential task for future on-orbit servicing and close-proximity formation flying missions. However, two issues hinder reliable on-board monocular vision based pose…

Unmanned Aerial Vehicles (UAVs) especially drones, equipped with vision techniques have become very popular in recent years, with their extensive use in wide range of applications. Many of these applications require use of computer vision…

Accurate 6-DoF object pose estimation and tracking are critical for reliable robotic manipulation. However, zero-shot methods often fail under viewpoint-induced ambiguities and fixed-camera setups struggle when objects move or become…