相关论文: DUViN: Diffusion-Based Underwater Visual Navigatio…

LiDAR depth maps provide environmental guidance in a variety of applications. However, such depth maps are typically sparse and insufficient for complex tasks such as autonomous navigation. State of the art methods use image guided neural…

Underwater caves are challenging environments that are crucial for water resource management, and for our understanding of hydro-geology and history. Mapping underwater caves is a time-consuming, labor-intensive, and hazardous operation.…

With the rise of marine exploration, underwater imaging has gained significant attention as a research topic. Underwater video enhancement has become crucial for real-time computer vision tasks in marine exploration. However, most existing…

Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…

Diffusion-based methods have been acknowledged as a powerful paradigm for end-to-end visuomotor control in robotics. Most existing approaches adopt a Diffusion Policy in U-Net architecture (DP-U), which, while effective, suffers from…

Diffusion Transformers (DiTs) can generate short photorealistic videos, yet directly training and sampling longer videos with full attention across the video remains computationally challenging. Alternative methods break long videos down…

Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs) have emerged as platforms capable of operating in both aerial and underwater environments, enabling applications such as inspection, mapping, search, and rescue in challenging scenarios.…

Conventional physics-based modeling is a time-consuming bottleneck in control design for complex nonlinear systems like autonomous underwater vehicles (AUVs). In contrast, purely data-driven models, though convenient and quick to obtain,…

In recent years, learning-based feature detection and matching have outperformed manually-designed methods in in-air cases. However, it is challenging to learn the features in the underwater scenario due to the absence of annotated…

Deepfakes pose significant security and privacy threats through malicious facial manipulations. While robust watermarking can aid in authenticity verification and source tracking, existing methods often lack the sufficient robustness…

This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial…

Vision-and-Language Navigation (VLN), where an agent follows instructions to reach a target destination, has recently seen significant advancements. In contrast to navigation in discrete environments with predefined trajectories, VLN in…

Physics-informed deep learning has been developed as a novel paradigm for learning physical dynamics recently. While general physics-informed deep learning methods have shown early promise in learning fluid dynamics, they are difficult to…

Visible and infrared image fusion is one of the most crucial tasks in the field of image fusion, aiming to generate fused images with clear structural information and high-quality texture features for high-level vision tasks. However, when…

Integration of reinforcement learning with unmanned aerial vehicles (UAVs) to achieve autonomous flight has been an active research area in recent years. An important part focuses on obstacle detection and avoidance for UAVs navigating…

Data-driven modeling of spatiotemporal physical processes with general deep learning methods is a highly challenging task. It is further exacerbated by the limited availability of data, leading to poor generalizations in standard neural…

This paper presents the Large Vision Diffusion Transformer (LaVin-DiT), a scalable and unified foundation model designed to tackle over 20 computer vision tasks in a generative framework. Unlike existing large vision models directly adapted…

Velocity-model building is a fundamental component of seismic imaging, yet it remains a challenging inverse problem due to limited data coverage, nonlinearity, and the need to integrate heterogeneous information such as well logs. We…