相关论文: The Marine Debris Forward-Looking Sonar Datasets
Abandoned oil and gas wells pose significant environmental risks due to the potential leakage of hydrocarbons, brine and chemical pollutants. Detecting such leaks remains extremely challenging due to the weak acoustic emission and high…
Deep convolutional neural networks generally perform well in underwater object recognition tasks on both optical and sonar images. Many such methods require hundreds, if not thousands, of images per class to generalize well to unseen…
Typically, the detection of marine debris relies on in-situ campaigns that are characterized by huge human effort and limited spatial coverage. Following the need of a rapid solution for the detection of floating plastic, methods based on…
This study explores the potential of the Ping 360 sonar device, primarily used for navigation, in detecting complex underwater obstacles. The key motivation behind this research is the device's affordability and open-source nature, offering…
In this paper, we address the challenging problem of data association for underwater SLAM through a novel method for sonar image correspondence using learned features. We introduce SONIC (SONar Image Correspondence), a pose-supervised…
With the rapid advancement of artificial intelligence technology, AI-enabled image recognition has emerged as a potent tool for addressing challenges in traditional environmental monitoring. This study focuses on the detection of floating…
Underwater acoustic target detection in remote marine sensing operations is challenging due to complex sound wave propagation. Despite the availability of reliable sonar systems, target recognition remains a difficult problem. Various…
Perception is an essential component of pipelines in field robotics. In this survey, we quantitatively compare publicly available datasets available in unstructured outdoor environments. We focus on datasets for common perception tasks in…
Plastic waste in aquatic environments poses severe risks to marine life and human health. Autonomous robots can be utilized to collect floating waste, but they require accurate object identification capability. While deep learning has been…
Maritime autonomous systems require robust predictive capabilities to anticipate vessel motion and environmental dynamics. While transformer architectures have revolutionized AIS-based trajectory prediction and demonstrated feasibility for…
Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which…
Autonomous vehicles rely on camera, LiDAR, and radar sensors to navigate the environment. Adverse weather conditions like snow, rain, and fog are known to be problematic for both camera and LiDAR-based perception systems. Currently, it is…
Accurate 3D volumetric mapping is critical for autonomous underwater vehicles operating in obstacle-rich environments. Vision-based perception provides high-resolution data but fails in turbid conditions, while sonar is robust to lighting…
Lidar technology has evolved significantly over the last decade, with higher resolution, better accuracy, and lower cost devices available today. In addition, new scanning modalities and novel sensor technologies have emerged in recent…
Inertial sensing is used in many applications and platforms, ranging from day-to-day devices such as smartphones to very complex ones such as autonomous vehicles. In recent years, the development of machine learning and deep learning…
This paper details a new method to recognize and detect underwater objects in real-time sidescan sonar data imagery streams, with case-studies of applications for underwater archeology, and ghost fishing gear retrieval. We first synthesize…
This paper presents a novel dataset for the development of visual navigation and simultaneous localisation and mapping (SLAM) algorithms as well as for underwater intervention tasks. It differs from existing datasets as it contains ground…
Many complex vehicular systems, such as large marine vessels, contain confined spaces like water tanks, which are critical for the safe functioning of the vehicles. It is particularly hazardous for humans to inspect such spaces due to…
2D forward-looking sonar is a crucial sensor for underwater robotic perception. A well-known problem in this field is estimating missing information in the elevation direction during sonar imaging. There are demands to estimate 3D…
Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…