相关论文: Sonar-based Deep Learning in Underwater Robotics: …

Within the next several years, there will be a high level of autonomous technology that will be available for widespread use, which will reduce labor costs, increase safety, save energy, enable difficult unmanned tasks in harsh…

Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…

Among underwater perceptual sensors, imaging sonar has been highlighted for its perceptual robustness underwater. The major challenge of imaging sonar, however, arises from the difficulty in defining visual features despite limited…

Deep learning (DL) has emerged as a powerful tool for Synthetic Aperture Radar (SAR) ship classification. This survey comprehensively analyzes the diverse DL techniques employed in this domain. We identify critical trends and challenges,…

Socially aware navigation is a fast-evolving research area in robotics that enables robots to move within human environments while adhering to the implicit human social norms. The advent of Deep Reinforcement Learning (DRL) has accelerated…

Autonomous Underwater Robots (AURs) operate in challenging underwater environments, including low visibility and harsh water conditions. Such conditions present challenges for software engineers developing perception modules for the AUR…

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…

Deep learning (DL) techniques are on the rise in the software engineering research community. More and more approaches have been developed on top of DL models, also due to the unprecedented amount of software-related data that can be used…

In this paper, we present a comprehensive investigation of the challenges of Monocular Visual Simultaneous Localization and Mapping (vSLAM) methods for underwater robots. While significant progress has been made in state estimation methods…

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…

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 study explores the application of self-supervised learning (SSL) for improved target recognition in synthetic aperture sonar (SAS) imagery. The unique challenges of underwater environments make traditional computer vision techniques,…

Underwater Vehicles have become more sophisticated, driven by the off-shore sector and the scientific community's rapid advancements in underwater operations. Notably, many underwater tasks, including the assessment of subsea…

Deep learning (DL) models of code have recently reported great progress for vulnerability detection. In some cases, DL-based models have outperformed static analysis tools. Although many great models have been proposed, we do not yet have a…

This paper introduces ROSAR, a novel framework enhancing the robustness of deep learning object detection models tailored for side-scan sonar (SSS) images, generated by autonomous underwater vehicles using sonar sensors. By extending our…

The recent advances in machine learning in various fields of applications can be largely attributed to the rise of deep learning (DL) methods and architectures. Despite being a key technology behind autonomous cars, image processing, speech…

Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…

Deep Neural Networks (DNNs) learn representation from data with an impressive capability, and brought important breakthroughs for processing images, time-series, natural language, audio, video, and many others. In the remote sensing field,…

Sound source localization (SSL) adds a spatial dimension to auditory perception, allowing a system to pinpoint the origin of speech, machinery noise, warning tones, or other acoustic events, capabilities that facilitate robot navigation,…

The emergence of mobile robotics, particularly in the automotive industry, introduces a promising era of enriched user experiences and adept handling of complex navigation challenges. The realization of these advancements necessitates a…