相关论文: Shallow Water Bathymetry Survey using an Autonomou…

The transition of seaweed farming to an alternative food source on an industrial scale relies on automating its processes through smart farming, equivalent to land agriculture. Key to this process are autonomous underwater vehicles (AUVs)…

In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…

Underwater robot perception is crucial in scientific subsea exploration and commercial operations. The key challenges include non-uniform lighting and poor visibility in turbid environments. High-frequency forward-look sonar cameras address…

Simultaneous localization and mapping (SLAM) is a critical capability for any autonomous underwater vehicle (AUV). However, robust, accurate state estimation is still a work in progress when using low-cost sensors. We propose enhancing a…

Localization is an important required task for enabling vehicle autonomy for underwater vehicles. Localization entails the determination of position of the center of mass and orientation of a vehicle from the available measurements. In this…

We present the results of experiments performed using a team of small autonomous underwater vehicles (AUVs) to determine the location of an isobath. The primary contributions of this work are (1) the development of a novel objective…

The exploration and sustainable use of marine environments have become increasingly critical as oceans cover over 70% of surface of Earth. This paper provides a comprehensive survey and classification of state-of-the-art underwater vehicles…

Fast, efficient, and accurate depth-sensing is important for safety-critical applications such as autonomous vehicles. Direct time-of-flight LiDAR has the potential to fulfill these demands, thanks to its ability to provide high-precision…

Wide-angle fisheye cameras are commonly used in automated driving for parking and low-speed navigation tasks. Four of such cameras form a surround-view system that provides a complete and detailed view of the vehicle. These cameras are…

This paper considers the problem of low-dimensional visualisation of very high dimensional information sources for the purpose of situation awareness in the maritime environment. In response to the requirement for human decision support…

In the field of autonomous driving, camera sensors are extremely prone to soiling because they are located outside of the car and interact with environmental sources of soiling such as rain drops, snow, dust, sand, mud and so on. This can…

Visual perception plays an important role in autonomous driving. One of the primary tasks is object detection and identification. Since the vision sensor is rich in color and texture information, it can quickly and accurately identify…

Knowledge of the bottom topography, also called bathymetry, of rivers, seas or the ocean is important for many areas of maritime science and civil engineering. While direct measurements are possible, they are time consuming and expensive.…

Single-Photon Avalanche Detector (SPAD) arrays are a rapidly emerging technology. These multi-pixel sensors have single-photon sensitivities and pico-second temporal resolutions thus they can rapidly generate depth images with millimeter…

Autonomous underwater vehicles (AUVs) are robotic platforms that are commonly used to map the sea floor, for example for benthic surveys or for naval mine countermeasures (MCM) operations. AUVs create an acoustic image of the survey area,…

Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…

Underwater surveys provide long-term data for informing management strategies, monitoring coral reef health, and estimating blue carbon stocks. Advances in broad-scale survey methods, such as robotic underwater vehicles, have increased the…

This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike traditional sonar, which produces 2D images…

Fully supervised salient object detection (SOD) has made considerable progress based on expensive and time-consuming data with pixel-wise annotations. Recently, to relieve the labeling burden while maintaining performance, some…

This paper presents SubPipe, an underwater dataset for SLAM, object detection, and image segmentation. SubPipe has been recorded using a \gls{LAUV}, operated by OceanScan MST, and carrying a sensor suite including two cameras, a side-scan…