相关论文: The Marine Debris Forward-Looking Sonar Datasets
With the growing interest in underwater exploration and monitoring, Autonomous Underwater Vehicles (AUVs) have become essential. The recent interest in onboard Deep Learning (DL) has advanced real-time environmental interaction capabilities…
Recent work has achieved dense 3D reconstruction with wide-aperture imaging sonar using a stereo pair of orthogonally oriented sonars. This allows each sonar to observe a spatial dimension that the other is missing, without requiring any…
Among underwater perceptual sensors, imaging sonar has been highlighted for its perceptual robustness underwater. The major challenge of imaging sonar, however, arises from the difficulty in defining visual features despite limited…
The capability to detect boulders on the surface of small bodies is beneficial for vision-based applications such as hazard detection during critical operations and navigation. This task is challenging due to the wide assortment of…
Trash deposits in aquatic environments have a destructive effect on marine ecosystems and pose a long-term economic and environmental threat. Autonomous underwater vehicles (AUVs) could very well contribute to the solution of this problem…
Nowadays underwater vision systems are being widely applied in ocean research. However, the largest portion of the ocean - the deep sea - still remains mostly unexplored. Only relatively few image sets have been taken from the deep sea due…
Unmanned Aerial Vehicles (UAVs) are of crucial importance in search and rescue missions in maritime environments due to their flexible and fast operation capabilities. Modern computer vision algorithms are of great interest in aiding such…
We propose a novel approach to handling the ambiguity in elevation angle associated with the observations of a forward looking multi-beam imaging sonar, and the challenges it poses for performing an accurate 3D reconstruction. We utilize a…
The use of robotics in humanitarian demining increasingly involves computer vision techniques to improve landmine detection capabilities. However, in the absence of diverse and realistic datasets, the reliable validation of algorithms…
Underwater object detection for robot picking has attracted a lot of interest. However, it is still an unsolved problem due to several challenges. We take steps towards making it more realistic by addressing the following challenges.…
Unmanned surface vehicles can encounter a number of varied visual circumstances during operation, some of which can be very difficult to interpret. While most cases can be solved only using color camera images, some weather and lighting…
Underwater cameras are widely used to observe the sea floor. They are usually included in autonomous underwater vehicles, unmanned underwater vehicles, and in situ ocean sensor networks. Despite being an important sensor for monitoring…
Self-supervised learning has proved to be a powerful approach to learn image representations without the need of large labeled datasets. For underwater robotics, it is of great interest to design computer vision algorithms to improve…
Imaging sonar produces clear images in underwater environments, independent of water turbidity and lighting conditions. The next generation 2D forward looking sonars are compact in size and able to generate high-resolution images which…
Underwater images play a crucial role in ocean research and marine environmental monitoring since they provide quality information about the ecosystem. However, the complex and remote nature of the environment results in poor image quality…
Algorithms for autonomous navigation in environments without Global Navigation Satellite System (GNSS) coverage mainly rely on onboard perception systems. These systems commonly incorporate sensors like cameras and Light Detection and…
This paper introduces a new benchmarking dataset for marine snow removal of underwater images. Marine snow is one of the main degradation sources of underwater images that are caused by small particles, e.g., organic matter and sand,…
Visual localization plays an important role in the positioning and navigation of robotics systems within previously visited environments. When visits occur over long periods of time, changes in the environment related to seasons or…
Underwater object detection using sonar imagery has become a critical and rapidly evolving research domain within marine technology. However, sonar images are characterized by lower resolution and sparser features compared to optical…
A submarine's sonar team is responsible for detecting, localising and classifying targets using information provided by the platform's sensor suite. The information used to make these assessments is typically uncertain and/or incomplete and…