相关论文: OceanSim: A GPU-Accelerated Underwater Robot Perce…

Anticipating what might happen as a result of an action is an essential ability humans have in order to perform tasks effectively. On the other hand, robots capabilities in this regard are quite lacking. While machine learning is used to…

Spike cameras, with their exceptional temporal resolution, are revolutionizing high-speed visual applications. Large-scale synthetic datasets have significantly accelerated the development of these cameras, particularly in reconstruction…

Accurate real-time buoyancy modeling is essential for high-fidelity Autonomous Underwater Vehicle (AUV) simulations, yet NVIDIA Isaac Sim lacks a native buoyancy system, requiring external solutions for precise underwater physics. This…

The development of novel autonomous underwater gliders has been hindered by limited shape diversity, primarily due to the reliance on traditional design tools that depend heavily on manual trial and error. Building an automated design…

We present a novel approach for photorealistic robot simulation that integrates 3D Gaussian Splatting as a drop-in renderer within vectorized physics simulators such as IsaacGym. This enables unprecedented speed -- exceeding 100,000 steps…

This paper presents a dataset, called Reeds, for research on robot perception algorithms. The dataset aims to provide demanding benchmark opportunities for algorithms, rather than providing an environment for testing application-specific…

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…

One of the current challenges in physically-based simulations, and, more specifically, fluid simulations, is to produce visually appealing results at interactive rates, capable of being used in multiple forms of media. In recent times, a…

Underwater salient instance segmentation (USIS) is crucial for marine robotic systems, as it enables both underwater salient object detection and instance-level mask prediction for visual scene understanding. Compared with its terrestrial…

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…

Autonomous robots in endovascular operations have the potential to navigate circulatory systems safely and reliably while decreasing the susceptibility to human errors. However, there are numerous challenges involved with the process of…

Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and submerged sensing modalities. This paper introduces the Aerial…

With deep learning and computer vision technology development, autonomous driving provides new solutions to improve traffic safety and efficiency. The importance of building high-quality datasets is self-evident, especially with the rise of…

Continuum robots are advancing bronchoscopy procedures by accessing complex lung airways and enabling targeted interventions. However, their development is limited by the lack of realistic training and test environments: Real data is…

This paper presents and investigates a novel methodology for validating high-resolution ocean models using satellite imagery. High-resolution ocean models provide detailed information in coastal areas where other available data products are…

Synthetic sonar datasets offer a scalable alternative to costly real-world acquisition, yet their utility remains limited by the absence of rigorous quantitative validation. We present ACOUSIM (ACOustic SIMulation and Validation Platform),…

This paper presents the (MARUN)2 underwater robotic simulator. The simulator architecture enables seamless integration with the ROS-based mission software and web-based user interface of URSULA, a squid inspired biomimetic robot designed…

This paper introduces the concept of employing neuromorphic methodologies for task-oriented underwater robotics applications. In contrast to the increasing computational demands of conventional deep learning algorithms, neuromorphic…

Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a low-cost means of directly estimating metric depth to support these tasks. However, despite recent advances in stereo depth estimation…

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…