相关论文: AQUALOC: An Underwater Dataset for Visual-Inertial…

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…

We propose UnLoc, an efficient data-driven solution for sequential camera localization within floorplans. Floorplan data is readily available, long-term persistent, and robust to changes in visual appearance. We address key limitations of…

Underwater object detection for robot picking has attracted a lot of interest. However, it is still an unsolved problem due to several challenges. We take steps towards making it more realistic by addressing the following challenges.…

We introduce a novel approach for the precise localization of 67 anatomical structures from single depth images captured from the exterior of the human body. Our method uses a multi-class occupancy network, trained using segmented CT scans…

Indoor relocalization is vital for both robotic tasks like autonomous exploration and civil applications such as navigation with a cell phone in a shopping mall. Some previous approaches adopt geometrical information such as key-point…

Astronaut photography, spanning six decades of human spaceflight, presents a unique Earth observations dataset with immense value for both scientific research and disaster response. Despite its significance, accurately localizing the…

For an autonomous surface vessel (ASV) to dock, it must track other vessels close to the docking area. Kayaks present a particular challenge due to their proximity to the dock and relatively small size. Maritime target tracking has…

Passive acoustics can provide a variety of capabilities with applications in oceanographic research and maritime situational awareness. In this paper, we develop a method for the navigation of autonomous underwater vehicles (AUVs) in…

Lifelong embodied navigation requires agents to accumulate, retain, and exploit spatial-semantic experience across tasks, enabling efficient exploration in novel environments and rapid goal reaching in familiar ones. While object-centric…

Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…

Unmanned surface vehicles (USVs) have great value with their ability to execute hazardous and time-consuming missions over water surfaces. Recently, USVs for inland waterways have attracted increasing attention for their potential…

This technical report introduces CyberLoc, an image-based visual localization pipeline for robust and accurate long-term pose estimation under challenging conditions. The proposed method comprises four modules connected in a sequence.…

Recently, significant progress has been made in single-view depth estimation thanks to increasingly large and diverse depth datasets. However, these datasets are largely limited to specific application domains (e.g. indoor, autonomous…

This paper presents EdgeLoc, an infrastructure-assisted, real-time localization system for autonomous driving that addresses the incompatibility between traditional localization methods and deep learning approaches. The system is built on…

Utilizing the complementary strengths of wavelength-specific range or depth sensors is crucial for robust computer-assisted tasks such as autonomous driving. Despite this, there is still little research done at the intersection of optical…

We present the ALTO dataset, a vision-focused dataset for the development and benchmarking of Visual Place Recognition and Localization methods for Unmanned Aerial Vehicles. The dataset is composed of two long (approximately 150km and…

This paper introduces the Maritime Ship Navigation Behavior Dataset (MID), designed to address challenges in ship detection within complex maritime environments using Oriented Bounding Boxes (OBB). MID contains 5,673 images with 135,884…

In this work a novel ships dataset is proposed consisting of more than 56k images of marine vessels collected by means of web-scraping and including 12 ship categories. A YOLOv3 single-stage detector based on Keras API is built on top of…

Autonomously controlling the position of Remotely Operated underwater Vehicles (ROVs) is of crucial importance for a wide range of underwater engineering applications, such as in the inspection and maintenance of underwater industrial…

Low-cost inertial navigation sensors (INS) can be exploited for a reliable tracking solution for autonomous vehicles. However, position errors grow exponentially due to noises in the measurements. Several deep learning techniques have been…