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

Matching sonar images with high accuracy has been a problem for a long time, as sonar images are inherently hard to model due to reflections, noise and viewpoint dependence. Autonomous Underwater Vehicles require good sonar image matching…

Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic loss of structural features in images. Addressing these…

With the continuous development of underwater vision technology, more and more remote sensing images could be obtained. In the underwater scene, sonar sensors are currently the most effective remote perception devices, and the sonar images…

Object detection aims to obtain the location and the category of specific objects in a given image, which includes two tasks: classification and location. In recent years, researchers tend to apply object detection to underwater robots…

Synthetic Aperture Sonar (SAS) imaging has become a crucial technology for underwater exploration because of its unique ability to maintain resolution at increasing ranges, a characteristic absent in conventional sonar techniques. However,…

This paper aims to briefly survey deep learning methods for visual navigation of underwater robotics. The scope of this paper includes the visual perception of underwater robotics with deep learning methods, the available visual underwater…

Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…

This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…

In the field of deep-sea exploration, sonar is presently the only efficient long-distance sensing device. The complicated underwater environment, such as noise interference, low target intensity or background dynamics, has brought many…

Autonomous Underwater Vehicle (AUV) docking in dynamic and uncertain environments is a critical challenge for underwater robotics. Reinforcement learning is a promising method for developing robust controllers, but the disparity between…

Multi-robot simultaneous localization and mapping (SLAM) is a fundamental task in multi-robot operations. Robots must have a common understanding of their location and that of their team members to complete coordinated actions. However,…

Autonomous navigation in underwater environments presents challenges due to factors such as light absorption and water turbidity, limiting the effectiveness of optical sensors. Sonar systems are commonly used for perception in underwater…

Deep Learning (DL) techniques are now widespread and being integrated into many important systems. Their classification and recognition abilities ensure their relevance for multiple application domains. As machine-learning that relies on…

Underwater target detection using active sonar constitutes a critical research area in marine sciences and engineering. However, traditional signal processing methods face significant challenges in complex underwater environments due to…

Side-scan sonar (SSS) is a lightweight acoustic sensor that is frequently deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, using side-scan images to perform simultaneous localization and…

We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…

In this paper, we consider depth control problems of an autonomous underwater vehicle (AUV) for tracking the desired depth trajectories. Due to the unknown dynamical model of the AUV, the problems cannot be solved by most of model-based…

Deep learning in remote sensing has become an international hype, but it is mostly limited to the evaluation of optical data. Although deep learning has been introduced in Synthetic Aperture Radar (SAR) data processing, despite successful…

Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…

Over the last decade, robotic perception algorithms have significantly benefited from the rapid advances in deep learning (DL). Indeed, a significant amount of the autonomy stack of different commercial and research platforms relies on DL…