相关论文: An Efficient Detection and Control System for Unde…
Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
Deep learning object detection methods, like YOLOv5, are effective in identifying maritime vessels but often lack detailed information important for practical applications. In this paper, we addressed this problem by developing a technique…
Underwater images captured by Autonomous Underwater Vehicles (AUVs) are inevitably affected by artificial light sources, which often produce halos in the foreground of the camera and seriously interfere with the quality of the image. The…
Navigation is a critical aspect of autonomous underwater vehicles (AUVs) operating in complex underwater environments. Since global navigation satellite system (GNSS) signals are unavailable underwater, navigation relies on inertial…
This paper addresses the challenging problem of image enhancement in complex underwater scenes by proposing a solution based on deep learning. The proposed method skillfully integrates two deep convolutional neural network models, VGG19 and…
Recent advances in deep learning, particularly neural networks, have significantly impacted a wide range of fields, including the automatic enhancement of underwater images. This paper presents a deep learning-based approach to improving…
This paper presents an approach for autonomous docking of a fully actuated autonomous surface vessel using expert demonstration data. We frame the docking problem as an imitation learning task and employ inverse reinforcement learning (IRL)…
Flooding is a major natural hazard causing significant fatalities and economic losses annually, with increasing frequency due to climate change. Rapid and accurate flood detection and monitoring are crucial for mitigating these impacts.…
Raw underwater images are degraded due to wavelength dependent light attenuation and scattering, limiting their applicability in vision systems. Another factor that makes enhancing underwater images particularly challenging is the diversity…
Accurate relative state observation of Unmanned Underwater Vehicles (UUVs) for tracking uncooperative targets remains a significant challenge due to the absence of GPS, complex underwater dynamics, and sensor limitations. Existing…
Unmanned Aerial Vehicles (UAVs) are known for their fast and versatile applicability. With UAVs' growth in availability and applications, they are now of vital importance in serving as technological support in search-and-rescue(SAR)…
Research on coastal regions traditionally involves methods like manual sampling, monitoring buoys, and remote sensing, but these methods face challenges in spatially and temporally diverse regions of interest. Autonomous surface vehicles…
Underwater caves are challenging environments that are crucial for water resource management, and for our understanding of hydro-geology and history. Mapping underwater caves is a time-consuming, labor-intensive, and hazardous operation.…
Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…
Underwater visual enhancement (UVE) and underwater 3D reconstruction pose significant challenges in computer vision and AI-based tasks due to complex imaging conditions in aquatic environments. Despite the development of numerous…
Autonomous underwater vehicles (AUVs) are regularly used for deep ocean applications. Commonly, the autonomous navigation task is carried out by a fusion between two sensors: the inertial navigation system and the Doppler velocity log…
Many underwater tasks, such as cable-and-wreckage inspection and search-and-rescue, can benefit from robust Human-Robot Interaction (HRI) capabilities. With the recent advancements in vision-based underwater HRI methods, Autonomous…
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…
This paper presents a comprehensive review of recent advancements in image processing and deep learning techniques for pavement distress detection and classification, a critical aspect in modern pavement management systems. The conventional…