相关论文: Scalable Semantic 3D Mapping of Coral Reefs with D…

Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a low-cost means of directly estimating metric depth to support these tasks. However, despite recent advances in stereo depth estimation…

Autonomous underwater vehicles (AUVs) are increasingly used to survey coral reefs, yet efficiently locating specific coral species of interest remains difficult: target species are often sparsely distributed across the reef, and an AUV with…

This paper proposes a bandwidth tunable technique for real-time probabilistic scene modeling and mapping to enable co-robotic exploration in communication constrained environments such as the deep sea. The parameters of the system enable…

Continuous and reliable underwater monitoring is essential for assessing marine biodiversity, detecting ecological changes and supporting autonomous exploration in aquatic environments. Underwater monitoring platforms rely on mainly visual…

Robotic and animal mapping systems share many challenges and characteristics: they must function in a wide variety of environmental conditions, enable the robot or animal to navigate effectively to find food or shelter, and be…

Coral reefs are vital for marine biodiversity, coastal protection, and supporting human livelihoods globally. However, they are increasingly threatened by mass bleaching events, pollution, and unsustainable practices with the advent of…

Coral reef ecosystems support significant biological activities and harbor huge diversity, but they are facing a severe crisis driven by anthropogenic activities and climate change. An important behavioral trait of the coral holobiont is…

Monitoring underwater habitats is a vital part of observing the condition of the environment. The detection and mapping of underwater vegetation, especially seagrass has drawn the attention of the research community as early as the nineteen…

Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…

3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…

With the rapid development of VR technology, the demand for high-quality 3D models is increasing. Traditional methods struggle with efficiency and quality in large-scale customization. This paper introduces a deep-learning framework that…

The majority of Earth's surface lies deep in the oceans, where no surface light reaches. Robots diving down to great depths must bring light sources that create moving illumination patterns in the darkness, such that the same 3D point…

Underwater image enhancement is vital for marine conservation, particularly coral reef monitoring. However, AI-based enhancement models often face dataset bias, high computational costs, and lack of transparency, leading to potential…

Marine scientists use remote underwater video recording to survey fish species in their natural habitats. This helps them understand and predict how fish respond to climate change, habitat degradation, and fishing pressure. This information…

Visual analysis of complex fish habitats is an important step towards sustainable fisheries for human consumption and environmental protection. Deep Learning methods have shown great promise for scene analysis when trained on large-scale…

Passive acoustic monitoring offers the potential to enable long-term, spatially extensive assessments of coral reefs. To explore this approach, we deployed underwater acoustic recorders at ten coral reef sites around Singapore waters over…

Underwater 3D object detection remains one of the most challenging frontiers in computer vision, where traditional approaches struggle with the harsh acoustic environment and scarcity of training data. While deep learning has revolutionized…

With increasing wastewater rates, achieving energy-neutral purification is challenging. We introduce a coral-reef-inspired Swarm Interaction Network for carbon-neutral wastewater treatment, combining morphogenetic abstraction with…

Reliable and accurate localization and mapping are key components of most autonomous systems. Besides geometric information about the mapped environment, the semantics plays an important role to enable intelligent navigation behaviors. In…

Biodiversity conservation depends on accurate, up-to-date information about wildlife population distributions. Motion-activated cameras, also known as camera traps, are a critical tool for population surveys, as they are cheap and…