相关论文: SHRUMS: Sensor Hallucination for Real-time Underwa…

Sidescan sonar is a small and cost-effective sensing solution that can be easily mounted on most vessels. Historically, it has been used to produce high-definition images that experts may use to identify targets on the seafloor or in the…

With the fast and unstoppable evolution of robotics and artificial intelligence, effective autonomous navigation in real-world scenarios has become one of the most pressing challenges in the literature. However, demanding requirements, such…

We present MINOS, a simulator designed to support the development of multisensory models for goal-directed navigation in complex indoor environments. The simulator leverages large datasets of complex 3D environments and supports flexible…

Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…

Motion planning is a fundamental problem in autonomous driving and perhaps the most challenging to comprehensively evaluate because of the associated risks and expenses of real-world deployment. Therefore, simulations play an important role…

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…

When navigating and interacting in challenging environments where sensory information is imperfect and incomplete, robots must make decisions that account for these shortcomings. We propose a novel method for quantifying and representing…

Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…

3D Gaussian Splatting offers expressive scene reconstruction, modeling a broad range of visual, geometric, and semantic information. However, efficient real-time map reconstruction with data streamed from multiple robots and devices remains…

Spherical Harmonics ROOM), an open-source Python library for room acoustics simulation using Ambisonics, available at https://github.com/Yhonatangayer/shroom and installable via \texttt{pip install pyshroom}. \textbf{shroom} projects…

This paper presents SubPipe, an underwater dataset for SLAM, object detection, and image segmentation. SubPipe has been recorded using a \gls{LAUV}, operated by OceanScan MST, and carrying a sensor suite including two cameras, a side-scan…

The field of autonomous mobile robots has undergone dramatic advancements over the past decades. Despite achieving important milestones, several challenges are yet to be addressed. Aggregating the achievements of the robotic community as…

In this paper, we address the problem of sim-to-real transfer for object segmentation when there is no access to real examples of an object of interest during training, i.e. zero-shot sim-to-real transfer for segmentation. We focus on the…

Underwater monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle to produce maps with high-fidelity rendering. In this paper,…

In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…

A key requirement in robotics is the ability to simultaneously self-localize and map a previously unknown environment, relying primarily on onboard sensing and computation. Achieving fully onboard accurate simultaneous localization and…

Hyperspectral imaging has been increasingly used for underwater survey applications over the past years. As many hyperspectral cameras work as push-broom scanners, their use is usually limited to the creation of photo-mosaics based on a…

In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…

This paper presents a holistic approach to saliency-guided visual attention modeling (SVAM) for use by autonomous underwater robots. Our proposed model, named SVAM-Net, integrates deep visual features at various scales and semantics for…

We present a novel reduced-order fluid simulation technique leveraging Dynamic Mode Decomposition (DMD) to achieve fast, memory-efficient, and user-controllable subspace simulation. We demonstrate that our approach combines the strengths of…