相关论文: Scalable Semantic 3D Mapping of Coral Reefs with D…
This paper presents a holistic approach to saliency-guided visual attention modeling (SVAM) for use by autonomous underwater robots. Our proposed model, named SVAM-Net, integrates deep visual features at various scales and semantics for…
Due to computational constraints, climate simulations cannot resolve a range of small-scale physical processes, which have a significant impact on the large-scale evolution of the climate system. Parameterization is an approach to capture…
Climate change and sea-level rise (SLR) pose escalating threats to coastal cities, intensifying the need for efficient and accurate methods to predict potential flood hazards. Traditional physics-based hydrodynamic simulators, although…
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…
Deep learning has not been routinely employed for semantic segmentation of seabed environment for synthetic aperture sonar (SAS) imagery due to the implicit need of abundant training data such methods necessitate. Abundant training data,…
Search and rescue (SAR) operations require rapid responses to save lives or property. Unmanned Aerial Vehicles (UAVs) equipped with vision-based systems support these missions through prior terrain investigation or real-time assistance…
Semantic 3D mapping can be used for many applications such as robot navigation and virtual interaction. In recent years, there has been great progress in semantic segmentation and geometric 3D mapping. However, it is still challenging to…
Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…
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…
Underwater image enhancement has become an attractive topic as a significant technology in marine engineering and aquatic robotics. However, the limited number of datasets and imperfect hand-crafted ground truth weaken its robustness to…
Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…
Semantic world models enable embodied agents to reason about objects, relations, and spatial context beyond purely geometric representations. In Organic Computing, such models are a key enabler for objective-driven self-adaptation under…
Repair and maintenance of underwater structures as well as marine science rely heavily on the results of underwater object detection, which is a crucial part of the image processing workflow. Although many computer vision-based approaches…
Corrosion, a naturally occurring process leading to the deterioration of metallic materials, demands diligent detection for quality control and the preservation of metal-based objects, especially within industrial contexts. Traditional…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Jellyfish, a diverse group of gelatinous marine organisms, play a crucial role in maintaining marine ecosystems but pose significant challenges for biodiversity and conservation due to their rapid proliferation and ecological impact.…
Search and rescue environments exhibit challenging 3D geometry (e.g., confined spaces, rubble, and breakdown), which necessitates agile and maneuverable aerial robotic systems. Because these systems are size, weight, and power (SWaP)…
Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily focus on object segmentation for 3D scene understanding.…
We introduce DualMap, an online open-vocabulary mapping system that enables robots to understand and navigate dynamically changing environments through natural language queries. Designed for efficient semantic mapping and adaptability to…