相关论文: Achelous: A Fast Unified Water-surface Panoptic Pe…
Urban water-surface robust perception serves as the foundation for intelligent monitoring of aquatic environments and the autonomous navigation and operation of unmanned vessels, especially in the context of waterway safety. It is worth…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
Detecting water-surface targets for Unmanned Surface Vehicles (USVs) is challenging due to wave clutter, specular reflections, and weak appearance cues in long-range observations. Although 4D millimeter-wave radar complements cameras under…
Small-sized unmanned surface vehicles (USV) are coastal water devices with a broad range of applications such as environmental control and surveillance. A crucial capability for autonomous operation is obstacle detection for timely reaction…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
Panoptic Driving Perception (PDP) is critical for the autonomous navigation of Unmanned Surface Vehicles (USVs). A PDP model typically integrates multiple tasks, necessitating the simultaneous and robust execution of various perception…
Autonomous driving on water surfaces plays an essential role in executing hazardous and time-consuming missions, such as maritime surveillance, survivors rescue, environmental monitoring, hydrography mapping and waste cleaning. This work…
In this paper, we present a fast monocular depth estimation method for enabling 3D perception capabilities of low-cost underwater robots. We formulate a novel end-to-end deep visual learning pipeline named UDepth, which incorporates domain…
Underwater perception and 3D surface reconstruction are challenging problems with broad applications in construction, security, marine archaeology, and environmental monitoring. Treacherous operating conditions, fragile surroundings, and…
Although autonomous vehicles (AVs) are expected to revolutionize transportation, robust perception across a wide range of driving contexts remains a significant challenge. Techniques to fuse sensor data from camera, radar, and lidar sensors…
Unsupervised video object segmentation (UVOS) aims at detecting the primary objects in a given video sequence without any human interposing. Most existing methods rely on two-stream architectures that separately encode the appearance and…
Robust object detection for Unmanned Surface Vehicles (USVs) in complex water environments is essential for reliable navigation and operation. Specifically, water surface object detection faces challenges from blurred edges and diverse…
Intelligent surveillance systems often handle perceptual tasks such as object detection, facial recognition, and emotion analysis independently, but they lack a unified, adaptive runtime scheduler that dynamically allocates computational…
The integration of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications such as search and rescue, environmental monitoring, and…
Amidst the rapid advancement of camera-based autonomous driving technology, effectiveness is often prioritized with limited attention to computational efficiency. To address this issue, this paper introduces LRHPerception, a real-time…
The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…
Obstacle detection plays an important role in unmanned surface vehicles (USV). The USVs operate in highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
Scene flow estimation is a foundational task for many robotic applications, including robust dynamic object detection, automatic labeling, and sensor synchronization. Two types of approaches to the problem have evolved: 1) Supervised and 2)…
Automotive FMCW radars remain reliable in rain and glare, yet their sparse, noisy point clouds constrain 3-D object detection. We therefore release CoVeRaP, a 21 k-frame cooperative dataset that time-aligns radar, camera, and GPS streams…