12 papers
Monocular Camera and Single-Beam Sonar-Based Underwater Collision-Free Navigation with Domain Randomization
Pengzhi Yang, Haowen Liu, Monika Roznere +1
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore,…
DeepURL: Deep Pose Estimation Framework for Underwater Relative Localization
Bharat Joshi, Md Modasshir, Travis Manderson +5
In this paper, we propose a real-time deep learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image. A team of autonomous…
Dynamic Autonomous Surface Vehicle Controls Under Changing Environmental Forces
Jason Moulton, Nare Karapetyan, Michail Kalaitzakis +3
The ability to navigate, search, and monitor dynamic marine environments such as ports, deltas, tributaries, and rivers presents several challenges to both human operated and auton…
PuzzleFlex: kinematic motion of chains with loose joints
Samuel Lensgraf, Karim Itani, Yinan Zhang +7
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which ar…
Real-time Model-based Image Color Correction for Underwater Robots
Monika Roznere, Alberto Quattrini Li
Recently, a new underwater imaging formation model presented that the coefficients related to the direct and backscatter transmission signals are dependent on the type of water, ca…
Experimental Comparison of Open Source Visual-Inertial-Based State Estimation Algorithms in the Underwater Domain
Bharat Joshi, Sharmin Rahman, Michail Kalaitzakis +8
A plethora of state estimation techniques have appeared in the last decade using visual data, and more recently with added inertial data. Datasets typically used for evaluation inc…