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We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…
For the best human-robot interaction experience, the robot's navigation policy should take into account personal preferences of the user. In this paper, we present a learning framework complemented by a perception pipeline to train a depth…
Underwater automatic target recognition (UATR) has been a challenging research topic in ocean engineering. Although deep learning brings opportunities for target recognition on land and in the air, underwater target recognition techniques…
Facial recognition systems have become an integral part of the modern world. These methods accomplish the task of human identification in an automatic, fast, and non-interfering way. Past research has uncovered high vulnerability to simple…
Unmanned surface vehicles (USVs) and boats are increasingly important in maritime operations, yet their deployment is limited due to costly sensors and complexity. LiDAR, radar, and depth cameras are either costly, yield sparse point clouds…
Face detection is a long-standing challenge in the field of computer vision, with the ultimate goal being to accurately localize human faces in an unconstrained environment. There are significant technical hurdles in making these systems…
The uncertainty and variability of underwater environment propose the request to control underwater robots in real time and dynamically, especially in the scenarios where human and robots need to work collaboratively in the field. However,…
Continuous and reliable underwater monitoring is essential for assessing marine biodiversity, detecting ecological changes and supporting autonomous exploration in aquatic environments. Underwater monitoring platforms rely on mainly visual…
This paper addresses the challenging problem of image enhancement in complex underwater scenes by proposing a solution based on deep learning. The proposed method skillfully integrates two deep convolutional neural network models, VGG19 and…
The powerful representation capacity of deep learning has made it inevitable for the underwater image enhancement community to employ its potential. The exploration of deep underwater image enhancement networks is increasing over time, and…
In this paper, we propose a real-time deep learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image. A team of autonomous robots localizing themselves in a communication-constrained…
Autonomous underwater vehicles (AUVs) have been deployed for underwater exploration. However, its potential is confined by its limited on-board battery energy and data storage capacity. This problem has been addressed using docking systems…
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…
Social robots often rely on visual perception to understand their users and the environment. Recent advancements in data-driven approaches for computer vision have demonstrated great potentials for applying deep-learning models to enhance a…
Depth estimation is critical for any robotic system. In the past years estimation of depth from monocular images have shown great improvement, however, in the underwater environment results are still lagging behind due to appearance changes…
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.…
Deep learning-based underwater object detection (UOD) remains a major challenge due to the degraded visibility and difficulty to obtain sufficient underwater object images captured from various perspectives for training. To address these…
Today ship hull inspection including the examination of the external coating, detection of defects, and other types of external degradation such as corrosion and marine growth is conducted underwater by means of Remotely Operated Vehicles…
Underwater object detection is a crucial and challenging problem in marine engineering and aquatic robot. The difficulty is partly because of the degradation of underwater images caused by light selective absorption and scattering.…
Face detection is to search all the possible regions for faces in images and locate the faces if there are any. Many applications including face recognition, facial expression recognition, face tracking and head-pose estimation assume that…