相关论文: Human-Assisted Robotic Detection of Foreign Object…

Foreign Object Debris (FOD) within aircraft fuel tanks presents critical safety hazards including fuel contamination, system malfunctions, and increased maintenance costs. Despite the severity of these risks, there is a notable lack of…

Supervised object detection methods provide subpar performance when applied to Foreign Object Debris (FOD) detection because FOD could be arbitrary objects according to the Federal Aviation Administration (FAA) specification. Current…

Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…

Unmanned Aircraft Systems (UAS) have become an important resource for public service providers and smart cities. The purpose of this study is to expand this research area by integrating computer vision and UAS technology to automate public…

In a cyber-physical system such as an autonomous vehicle (AV), machine learning (ML) models can be used to navigate and identify objects that may interfere with the vehicle's operation. However, ML models are unlikely to make accurate…

Finding obstacle-free paths in unknown environments is a big navigation issue for visually impaired people and autonomous robots. Previous works focus on obstacle avoidance, however they do not have a general view of the environment they…

In the maritime sector, safe vessel navigation is of great importance, particularly in congested harbors and waterways. The focus of this work is to estimate the distance between an object of interest and potential obstacles using a…

Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…

Garbage and waste disposal is one of the biggest challenges currently faced by mankind. Proper waste disposal and recycling is a must in any sustainable community, and in many coastal areas there is significant water pollution in the form…

Positioning of underwater robots in confined and cluttered spaces remains a key challenge for field operations. Existing systems are mostly designed for large, open-water environments and struggle in industrial settings due to poor…

Navigation in natural outdoor environments requires a robust and reliable traversability classification method to handle the plethora of situations a robot can encounter. Binary classification algorithms perform well in their native domain…

Marine debris poses a significant ecological threat to birds, fish, and other animal life. Traditional methods for assessing debris accumulation involve labor-intensive and costly manual surveys. This study introduces a framework that…

Failures in robotics can have disastrous consequences that worsen rapidly over time. This, the ability to rely on robotic systems, depends on our ability to monitor them and intercede when necessary, manually or autonomously. Prior work in…

Trash deposits in aquatic environments have a destructive effect on marine ecosystems and pose a long-term economic and environmental threat. Autonomous underwater vehicles (AUVs) could very well contribute to the solution of this problem…

Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…

Safe navigation of self-driving cars and robots requires a precise understanding of their environment. Training data for perception systems cannot cover the wide variety of objects that may appear during deployment. Thus, reliable…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

Highly complex deep learning models are increasingly integrated into modern cyber-physical systems (CPS), many of which have strict safety requirements. One problem arising from this is that deep learning lacks interpretability, operating…

The future of inland navigation increasingly relies on autonomous systems and remote operations, emphasizing the need for accurate vessel trajectory prediction. This study addresses the challenges of video-based vessel tracking and…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…