相关论文: On-board Sonar Data Classification for Path Follow…
Since its inception, Fuzzy Set has been widely used to handle uncertainty and imprecision in decision-making. However, conventional fuzzy sets, often referred to as type-1 fuzzy sets (T1FSs) have limitations in capturing higher levels of…
Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only have knowledge of their immediate surroundings or be faced…
This article focuses on feature-based underwater localization and navigation for autonomous underwater vehicles (AUVs) using 2D imaging sonar measurements. The sparsity of underwater acoustic features and the loss of elevation angle in…
In order to improve the vessel's capacity and ensure maritime traffic safety, vessel intelligent trajectory prediction plays an essential role in the vessel's smart navigation and intelligent collision avoidance system. However, current…
Floating Car Observers (FCOs) extend traditional Floating Car Data (FCD) by integrating onboard sensors to detect and localize other traffic participants, providing richer and more detailed traffic data. In this work, we explore various…
The shipping industry is an important component of the global trade and economy, however in order to ensure law compliance and safety it needs to be monitored. In this paper, we present a novel Ship Type classification model that combines…
Autonomous underwater navigation remains a challenging problem due to limited sensing capabilities and the difficulty of constructing accurate maps in underwater environments. In this paper, we propose a Diffusion-based Underwater Visual…
Recent advances in deep learning technology have triggered radical progress in the autonomy of ground vehicles. Marine coastal Autonomous Surface Vehicles (ASVs) that are regularly used for surveillance, monitoring and other routine tasks…
Critical evaluation and understanding of ship responses in the ocean is important for not only the design and engineering of future platforms but also the operation and safety of those that are currently deployed. Simulations or experiments…
Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…
Model transparency, label correlation learning and the robust-ness to label noise are crucial for multilabel learning. However, few existing methods study these three characteristics simultaneously. To address this challenge, we propose the…
The preservation, monitoring, and control of water resources has been a major challenge in recent decades. Water resources must be constantly monitored to know the contamination levels of water. To meet this objective, this paper proposes a…
This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the underwater domain. Our previous work, SVIn, augmented the…
In an era where maritime infrastructures are crucial, advanced situational awareness solutions are increasingly important. The use of optical camera systems can allow real-time usage of maritime footage. This thesis presents an…
As one of the most important underwater sensing technologies, forward-looking sonar exhibits unique imaging characteristics. Sonar images are often affected by severe speckle noise, low texture contrast, acoustic shadows, and geometric…
Critical maritime infrastructure increasingly demands situational awareness both above and below the surface, yet existing ''seabed-to-sky'' mapping pipelines either rely on GNSS (vulnerable to shadowing/spoofing) or expensive bathymetric…
Underwater target localization using range-only and single-beacon (ROSB) techniques with autonomous vehicles has been used recently to improve the limitations of more complex methods, such as long baseline and ultra-short baseline systems.…
In this paper, a new interval type-2 fuzzy neural network able to construct non-separable fuzzy rules with adaptive shapes is introduced. To reflect the uncertainty, the shape of fuzzy sets considered to be uncertain. Therefore, a new form…
Thousands of hours of marine video data are collected annually from remotely operated vehicles (ROVs) and other underwater assets. However, current manual methods of analysis impede the full utilization of collected data for real time…
Collision-free, goal-directed navigation in environments containing unknown static and dynamic obstacles is still a great challenge, especially when manual tuning of navigation policies or costly motion prediction needs to be avoided. In…