相关论文: Real-Time Dense 3D Mapping of Underwater Environme…
An approach is proposed for high resolution 3D reconstruction of an object using a Micro Air Vehicle (MAV). A system is described which autonomously captures images and performs a dense 3D reconstruction via structure from motion with no…
Traditional sea exploration faces significant challenges due to extreme conditions, limited visibility, and high costs, resulting in vast unexplored ocean regions. This paper presents an innovative AI-powered Autonomous Underwater Vehicle…
Successful applications of complex vision-based behaviours underwater have lagged behind progress in terrestrial and aerial domains. This is largely due to the degraded image quality resulting from the physical phenomena involved in…
The 3D reconstruction of simultaneous localization and mapping (SLAM) is an important topic in the field for transport systems such as drones, service robots and mobile AR/VR devices. Compared to a point cloud representation, the 3D…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…
Providing a higher level of decision autonomy and accompanying prompt changes of an uncertain environment is a true challenge of AUVs autonomous operations. The proceeding approach introduces a robust reactive structure that accommodates an…
A key question in the problem of 3D reconstruction is how to train a machine or a robot to model 3D objects. Many tasks like navigation in real-time systems such as autonomous vehicles directly depend on this problem. These systems usually…
The Autonomy of Unmanned Aerial Vehicles (UAVs) in indoor environments poses significant challenges due to the lack of reliable GPS signals in enclosed spaces such as warehouses, factories, and indoor facilities. Micro Aerial Vehicles…
This paper presents a framework for mapping underwater caves. Underwater caves are crucial for fresh water resource management, underwater archaeology, and hydrogeology. Mapping the cave's outline and dimensions, as well as creating…
Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications. The reason for this success can be found in many aspects: the high maneuverability of the UAVs, the capability of performing…
Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this…
As robotics technology advances, dense point cloud maps are increasingly in demand. However, dense reconstruction using a single unmanned aerial vehicle (UAV) suffers from limitations in flight speed and battery power, resulting in slow…
The AUV three-dimension path planning in complex turbulent underwater environment is investigated in this research, in which static current map data and uncertain static-moving time variant obstacles are taken into account. Robustness of…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
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,…
High resolution underwater 3D scene reconstruction is crucial for various applications, including construction, infrastructure maintenance, monitoring, exploration, and scientific investigation. Prior work has leveraged the complementary…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
Advancements in underwater vehicle technology have significantly expanded the potential scope for deploying autonomous or remotely operated underwater vehicles in novel practical applications. However, the efficiency and maneuverability of…