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We present the results of experiments performed using a team of small autonomous underwater vehicles (AUVs) to determine the location of an isobath. The primary contributions of this work are (1) the development of a novel objective…

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.…

Autonomous underwater vehicles (AUV) perform various applications such as seafloor mapping and underwater structure health monitoring. Commonly, an inertial navigation system aided by a Doppler velocity log (DVL) is used to provide the…

One use of Autonomous Underwater Vehicles (AUVs) is the monitoring of habitats associated with threatened, endangered and protected marine species, such as the handfish of Tasmania, Australia. Seafloor imagery collected by AUVs can be used…

Unmanned Aerial Vehicles (UAVs) are of crucial importance in search and rescue missions in maritime environments due to their flexible and fast operation capabilities. Modern computer vision algorithms are of great interest in aiding such…

This paper presents an evaluation of a number of probabilistic algorithms for localization of autonomous underwater vehicles (AUVs) using bathymetry data. The algorithms, based on the principles of the Bayes filter, work by fusing…

Uses of underwater videos to assess diversity and abundance of fish are being rapidly adopted by marine biologists. Manual processing of videos for quantification by human analysts is time and labour intensive. Automatic processing 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…

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…

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…

In this paper, we consider the problem of caging and eventual capture of an underwater entity using multiple Autonomous Underwater Vehicles (AUVs) in a 3D water volume We solve this problem both with and without taking bathymetry into…

Autonomous underwater vehicle (AUV) plays an increasingly important role in ocean exploration. Existing AUVs are usually not fully autonomous and generally limited to pre-planning or pre-programming tasks. Reinforcement learning (RL) and…

Background: Underwater images, in general, suffer from low contrast and high color distortions due to the non-uniform attenuation of the light as it propagates through the water. In addition, the degree of attenuation varies with the…

Autonomous underwater vehicles (AUVs) are increasingly used in many applications such as oceanographic surveys, mapping, and inspection of underwater structures. To successfully complete those tasks, a Doppler velocity log (DVL) and an…

In recent research, adversarial attacks on person detectors using patches or static 3D model-based texture modifications have struggled with low success rates due to the flexible nature of human movement. Modeling the 3D deformations caused…

In-situ visual observations of marine organisms is crucial to developing behavioural understandings and their relations to their surrounding ecosystem. Typically, these observations are collected via divers, tags, and remotely-operated or…

The powerful representation capacity of deep learning has made it inevitable for the underwater image enhancement community to employ its potential. The exploration of deep underwater image enhancement networks is increasing over time, and…

In this paper, we present our deep learning-based human detection system that uses optical (RGB) and long-wave infrared (LWIR) cameras to detect, track, localize, and re-identify humans from UAVs flying at high altitude. In each spectrum, a…

To assist underwater object detection for better performance, image enhancement technology is often used as a pre-processing step. However, most of the existing enhancement methods tend to pursue the visual quality of an image, instead of…

Autonomous underwater vehicles (AUVs) have been deployed for underwater exploration. However, its potential is confined by its limited on-board battery energy and data storage capacity. This problem has been addressed using docking systems…