相关论文: Real-Time Dense 3D Mapping of Underwater Environme…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

The Information Updating Networks (IUNs) offers significant potential for ocean exploration but encounters challenges due to dynamic underwater environments and severe system attenuation. Current methods relying on Autonomous Underwater…

In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…

In this study, a single autonomous underwater vehicle (AUV) aims to rendezvous with a submerged leader recovery vehicle through a cluttered and variable operating field. The rendezvous problem is transformed into a nonlinear optimal control…

In this paper, we present a robust and efficient Structure from Motion pipeline for accurate 3D reconstruction under challenging environments by leveraging the camera pose information from a visual-inertial odometry. Specifically, we…

3D reconstruction is a fundamental task in robotics that gained attention due to its major impact in a wide variety of practical settings, including agriculture, underwater, and urban environments. This task can be carried out via view…

Precise three-dimensional (3D) reconstruction of wave free surfaces and associated velocity fields is essential for developing a comprehensive understanding of ocean physics. To address the high computational cost of dense visual…

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 Vehicle-Manipulator systems (AUVMS) is a new tool for ocean exploration, the AUVMS path planning problem is addressed in this paper. AUVMS is a high dimension system with a large difference in inertia distribution,…

The increasing miniaturization of Unmanned Aerial Vehicles (UAVs) has expanded their deployment potential to indoor and hard-to-reach areas. However, this trend introduces distinct challenges, particularly in terms of flight dynamics and…

Autonomous underwater navigation remains a challenging problem due to limited sensing capabilities and the difficulty of constructing accurate maps in underwater environments. In this paper, we propose a Diffusion-based Underwater Visual…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

We present a real-time dense geometric mapping algorithm for large-scale environments. Unlike existing methods which use pinhole cameras, our implementation is based on fisheye cameras which have larger field of view and benefit some other…

The underwater domain presents a vast array of challenges for roboticists and computer vision researchers alike, such as poor lighting conditions and high dynamic range scenes. In these adverse conditions, traditional vision techniques…

Despite impressive results achieved by many on-land visual mapping algorithms in the recent decades, transferring these methods from land to the deep sea remains a challenge due to harsh environmental conditions. Images captured by…

This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…

Autonomous driving and its widespread adoption have long held tremendous promise. Nevertheless, without a trustworthy and thorough testing procedure, not only does the industry struggle to mass-produce autonomous vehicles (AV), but neither…

Target localization is a prerequisite for embodied tasks such as navigation and manipulation. Conventional approaches rely on constructing explicit 3D scene representations to enable target localization, such as point clouds, voxel grids,…

Unmanned Surface Vehicles technology (USVs) is an exciting topic that essentially deploys an algorithm to safely and efficiently performs a mission. Although reinforcement learning is a well-known approach to modeling such a task,…

Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…