相关论文: The Marine Debris Forward-Looking Sonar Datasets

This paper presents TrashCan, a large dataset comprised of images of underwater trash collected from a variety of sources, annotated both using bounding boxes and segmentation labels, for development of robust detectors of marine debris.…

Marine debris poses a significant ecological threat to birds, fish, and other animal life. Traditional methods for assessing debris accumulation involve labor-intensive and costly manual surveys. This study introduces a framework that…

This paper introduces the first publicly accessible labeled multi-modal perception dataset for autonomous maritime navigation, focusing on in-water obstacles within the aquatic environment to enhance situational awareness for Autonomous…

Object detection in sonar images is crucial for underwater robotics applications including autonomous navigation and resource exploration. However, complex noise patterns inherent in sonar imagery, particularly speckle, reverberation, and…

Maritime environments often present hazardous situations due to factors such as moving ships or buoys, which become obstacles under the influence of waves. In such challenging conditions, the ability to detect and track potentially…

Marine ecosystems face increasing pressure due to climate change, driving the need for scalable, AI-powered monitoring solutions to inform effective conservation and restoration efforts. This paper examines the rapid emergence of underwater…

Visibility underwater is challenging, and degrades as the distance between the subject and camera increases, making vision tasks in the forward-looking direction more difficult. We have collected underwater forward-looking stereo-vision and…

Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…

We detail acoustic backscatter processing for characterization and mapping of the ocean bottom.

Enhancing forward-looking sonar images is critical for accurate underwater target detection. Current deep learning methods mainly rely on supervised training with simulated data, but the difficulty in obtaining high-quality real-world…

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…

Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due to poor visibility and geometric constraints, while sonar is…

Maritime environmental sensing requires overcoming challenges from complex conditions such as harsh weather, platform perturbations, large dynamic objects, and the requirement for long detection ranges. While cameras and LiDAR are commonly…

With the global issue of plastic debris ever expanding, it is about time that the technology industry stepped in. This study aims to assess whether deep learning can successfully distinguish between marine life and man-made debris…

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…

Underwater robot perception is crucial in scientific subsea exploration and commercial operations. The key challenges include non-uniform lighting and poor visibility in turbid environments. High-frequency forward-look sonar cameras address…

Deep learning techniques have been explored within the marine litter problem for approximately 20 years but the majority of the research has developed rapidly in the last five years. We provide an in-depth, up to date, summary and analysis…

Simulations are highly valuable in marine robotics, offering a cost-effective and controlled environment for testing in the challenging conditions of underwater and surface operations. Given the high costs and logistical difficulties of…

Scene reconstruction is an essential capability for underwater robots navigating in close proximity to structures. Monocular vision-based reconstruction methods are unreliable in turbid waters and lack depth scale information. Sonars are…

Detecting and quantifying marine pollution and macro-plastics is an increasingly pressing ecological issue that directly impacts ecology and human health. Efforts to quantify marine pollution are often conducted with sparse and expensive…