相关论文: OceanSim: A GPU-Accelerated Underwater Robot Perce…
This paper contributes the Aerial Gym Simulator, a highly parallelized, modular framework for simulation and rendering of arbitrary multirotor platforms based on NVIDIA Isaac Gym. Aerial Gym supports the simulation of under-, fully- and…
Omnidirectional camera is a cost-effective and information-rich sensor highly suitable for many marine applications and the ocean scientific community, encompassing several domains such as augmented reality, mapping, motion estimation,…
Endovascular robots have been actively developed in both academia and industry. However, progress toward autonomous catheterization is often hampered by the widespread use of closed-source simulators and physical phantoms. Additionally, the…
The field of 360-degree omnidirectional understanding has been receiving increasing attention for advancing spatial intelligence. However, the lack of large-scale and diverse data remains a major limitation. In this work, we propose…
Many underwater applications, such as offshore asset inspections, rely on visual inspection and detailed 3D reconstruction. Recent advancements in underwater visual SLAM systems for aquatic environments have garnered significant attention…
Oscillator-based Ising machines (OIMs) and oscillator-based Potts machines (OPMs) have emerged as promising hardware accelerators for solving NP-hard combinatorial optimization problems by leveraging the phase dynamics of coupled…
Underwater imaging is fundamentally challenging due to wavelength-dependent light attenuation, strong scattering from suspended particles, turbidity-induced blur, and non-uniform illumination. These effects impair standard cameras and make…
Quantum computing is an emerging technology, promising a paradigm shift in computing, and allowing for speedups in many different problems. However, quantum devices are still in their early stages, most with only a small number qubits. This…
This paper proposes a vision-in-the-loop simulation environment for deep monocular pose estimation of a UAV operating in an ocean environment. Recently, a deep neural network with a transformer architecture has been successfully trained to…
Recently, a new underwater imaging formation model presented that the coefficients related to the direct and backscatter transmission signals are dependent on the type of water, camera specifications, water depth, and imaging range. This…
Many applications in robotics require primitive spherical geometry, especially in cases where efficient distance queries are necessary. Manual creation of spherical models is time-consuming and prone to errors. This paper presents Foam, a…
Current trends in the computer graphics community propose leveraging the massive parallel computational power of GPUs to accelerate physically based simulations. Collision detection and solving is a fundamental part of this process. It is…
Deep-sea robot operations demand a high level of safety, efficiency and reliability. As a consequence, measures within the development stage have to be implemented to extensively evaluate and benchmark system components ranging from data…
While data-driven approaches demonstrate great potential in atmospheric modeling and weather forecasting, ocean modeling poses distinct challenges due to complex bathymetry, land, vertical structure, and flow non-linearity. This study…
This paper proposed a fully-simulated environment by integrating an on-sensor visual computing device, SCAMP, and CoppeliaSim robot simulator via interface and remote API. Within this platform, a mobile robot obstacle avoidance and target…
Underwater image enhancement plays a crucial role in providing reliable visual information for underwater platforms, since strong absorption and scattering in water-related environments generally lead to image quality degradation. Existing…
Underwater image enhancement is such an important low-level vision task with many applications that numerous algorithms have been proposed in recent years. These algorithms developed upon various assumptions demonstrate successes from…
Underwater image enhancement has become an attractive topic as a significant technology in marine engineering and aquatic robotics. However, the limited number of datasets and imperfect hand-crafted ground truth weaken its robustness to…
Developing learning-based methods for navigation of aerial robots is an intensive data-driven process that requires highly parallelized simulation. The full utilization of such simulators is hindered by the lack of parallelized high-level…
Robotic applications involving people often require advanced perception systems to better understand complex real-world scenarios. To address this challenge, photo-realistic and physics simulators are gaining popularity as a means of…