相关论文: Underwater Robot Pose Estimation Using Acoustic Me…

Ground texture based localization methods are potential prospects for low-cost, high-accuracy self-localization solutions for robots. These methods estimate the pose of a given query image, i.e. the current observation of the ground from a…

This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…

Autonomous underwater inspection of submerged pipelines is challenging due to confined geometries, turbidity, and the scarcity of reliable localization cues. This paper presents a minimal-sensing strategy that enables a free-swimming…

In this work, we tackle the problem of online camera-to-robot pose estimation from single-view successive frames of an image sequence, a crucial task for robots to interact with the world.

This work reviews the problem of object detection in underwater environments. We analyse and quantify the shortcomings of conventional state-of-the-art (SOTA) algorithms in the computer vision community when applied to this challenging…

A plethora of state estimation techniques have appeared in the last decade using visual data, and more recently with added inertial data. Datasets typically used for evaluation include indoor and urban environments, where supporting videos…

Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…

This paper presents a comprehensive review on regression-based method for human pose estimation. The problem of human pose estimation has been intensively studied and enabled many application from entertainment to training. Traditional…

Underwater sensor networks are anticipated to facilitate numerous commercial and military applications. Moreover, precise self-localization in practical underwater scenario is a crucial challenge in sensor networks because of the complexity…

Detection of undersea threats is a complex problem of considerable importance for maritime regional surveillance and security. Multistatic sonar systems can provide a means to monitor for underwater threats, where fixed sensors, towed…

Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated…

In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…

This paper presents a literature survey and a comparative study of Bug Algorithms, with the goal of investigating their potential for robotic navigation. At first sight, these methods seem to provide an efficient navigation paradigm, ideal…

The place recognition problem comprises two distinct subproblems; recognizing a specific location in the world ("specific" or "ordinary" place recognition) and recognizing the type of place (place categorization). Both are important…

Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…

Underwater image enhancement, as a pre-processing step to improve the accuracy of the following object detection task, has drawn considerable attention in the field of underwater navigation and ocean exploration. However, most of the…

Nowadays underwater vision systems are being widely applied in ocean research. However, the largest portion of the ocean - the deep sea - still remains mostly unexplored. Only relatively few image sets have been taken from the deep sea due…

Underwater robots are subject to position drift due to the effect of ocean currents and the lack of accurate localisation while submerged. We are interested in exploiting such position drift to estimate the ocean current in the surrounding…

In this paper, we explore whether a robot can learn to regrasp a diverse set of objects to achieve various desired grasp poses. Regrasping is needed whenever a robot's current grasp pose fails to perform desired manipulation tasks. Endowing…

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…