相关论文: Near-Shore Mapping for Detection and Tracking of V…
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…
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…
Autonomous maritime surveillance and target vessel identification in environments where Global Navigation Satellite Systems (GNSS) are not available is critical for a number of applications such as search and rescue and threat detection.…
Unmanned surface vehicles (USVs) and boats are increasingly important in maritime operations, yet their deployment is limited due to costly sensors and complexity. LiDAR, radar, and depth cameras are either costly, yield sparse point clouds…
LADARs mounted on mobile platforms produce a wealth of precise range data on the surrounding objects and vehicles. The challenge we address is to infer from these raw LADAR data the location and orientation of nearby vehicles. We propose a…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
Geopositioning and tracking a moving boat at sea is a very challenging problem, requiring boat detection, matching and estimating its GPS location from imagery with no common features. The problem can be stated as follows: given imagery…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
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…
In the maritime sector, safe vessel navigation is of great importance, particularly in congested harbors and waterways. The focus of this work is to estimate the distance between an object of interest and potential obstacles using a…
Autonomous vehicles (AVs) rely heavily on LiDAR (Light Detection and Ranging) systems for accurate perception and navigation, providing high-resolution 3D environmental data that is crucial for object detection and classification. However,…
The ability to navigate, search, and monitor dynamic marine environments such as ports, deltas, tributaries, and rivers presents several challenges to both human operated and autonomously operated surface vehicles. Human data collection and…
Event cameras are ideal for object tracking applications due to their ability to capture fast-moving objects while mitigating latency and data redundancy. Existing event-based clustering and feature tracking approaches for surveillance and…
A commonly encountered problem is the tracking of a physical object, like a maneuvering ship, aircraft, land vehicle, spacecraft or animate creature carrying a wireless device. The sensor data is often limited and inaccurate observations of…
Vision-based target tracking is crucial for unmanned surface vehicles (USVs) to perform tasks such as inspection, monitoring, and surveillance. However, real-time tracking in complex maritime environments is challenging due to dynamic…
Intelligent detection and tracking of the vessels on the sea play a significant role in conducting traffic avoidance in unmanned surface vessels(USV). Current traffic avoidance software relies mainly on Automated Identification System (AIS)…
There have been intensive research interests in ship detection and segmentation due to high demands on a wide range of civil applications in the last two decades. However, existing approaches, which are mainly based on statistical…
In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and…
LiDAR-based 3D detection plays a vital role in autonomous navigation. Surprisingly, although autonomous vehicles (AVs) must detect both near-field objects (for collision avoidance) and far-field objects (for longer-term planning),…