73 citations · 88 across the 7 of their papers we have counts for
6 papers · 1 filter
SeaVis: Modeling and Control of a Remotely Operated Towed Vehicle for Seabed Visualization and Mapping
Abdelhakim Amer, Aske Alstrup, Frederik Rasmussen +3
High-resolution seafloor mapping necessitates stable and precise positioning for underwater robots. This paper introduces a novel mathematical model for SeaVis remotely operated to…
REACT: Real-time Entanglement-Aware Coverage Path Planning for Tethered Underwater Vehicles
Abdelhakim Amer, Mohit Mehindratta, Yury Brodskiy +2
Inspection of underwater structures with tethered underwater vehicles is often hindered by the risk of tether entanglement. We propose REACT (real-time entanglement-aware coverage…
Monocular visual simultaneous localization and mapping: (r)evolution from geometry to deep learning-based pipelines
Olaya Alvarez-Tunon, Yury Brodskiy, Erdal Kayacan
With the rise of deep learning, there is a fundamental change in visual SLAM algorithms toward developing different modules trained as end-to-end pipelines. However, regardless of…
Mission Planning and Safety Assessment for Pipeline Inspection Using Autonomous Underwater Vehicles: A Framework based on Behavior Trees
Martin Aubard, Sergio Quijano, Olaya Álvarez-Tuñón +3
The recent advance in autonomous underwater robotics facilitates autonomous inspection tasks of offshore infrastructure. However, current inspection missions rely on predefined pla…
SubPipe: A Submarine Pipeline Inspection Dataset for Segmentation and Visual-inertial Localization
Olaya Álvarez-Tuñón, Luiza Ribeiro Marnet, László Antal +3
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…
UNav-Sim: A Visually Realistic Underwater Robotics Simulator and Synthetic Data-generation Framework
Abdelhakim Amer, Olaya Álvarez-Tuñón, Halil Ibrahim Ugurlu +3
Underwater robotic surveys can be costly due to the complex working environment and the need for various sensor modalities. While underwater simulators are essential, many existing…