8 papers
CORAL-AUV: CFD Oriented Reinforcement Learning for Autonomous Underwater Vehicles
Steven Roche, Milo Van Mooy, Nathan McGuire +3
Fine grain control and positioning of autonomous underwater vehicles (AUVs) is critical for sampling, maintenance, and survey applications. Traditional control methods for AUVs are…
Autonomous Search for Sparsely Distributed Visual Phenomena through Environmental Context Modeling
Eric Chen, Travis Manderson, Nare Karapetyan +3
Autonomous underwater vehicles (AUVs) are increasingly used to survey coral reefs, yet efficiently locating specific coral species of interest remains difficult: target species are…
ReefMapGS: Enabling Large-Scale Underwater Reconstruction by Closing the Loop Between Multimodal SLAM and Gaussian Splatting
Daniel Yang, Jungseok Hong, John J. Leonard +1
3D Gaussian Splatting is a powerful visual representation, providing high-quality and efficient 3D scene reconstruction, but it is crucially dependent on accurate camera poses typi…
AMP2026: A Multi-Platform Marine Robotics Dataset for Tracking and Mapping
Edwin Meriaux, Shuo Wen, David Widhalm +11
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and su…
Measuring and Minimizing Disturbance of Marine Animals to Underwater Vehicles
Levi Cai, Youenn Jézéquel, T. Aran Mooney +1
Do fish respond to the presence of underwater vehicles, potentially biasing our estimates about them? If so, are there strategies to measure and mitigate this response? This work p…
SeaSplat: Representing Underwater Scenes with 3D Gaussian Splatting and a Physically Grounded Image Formation Model
Daniel Yang, John J. Leonard, Yogesh Girdhar
We introduce SeaSplat, a method to enable real-time rendering of underwater scenes leveraging recent advances in 3D radiance fields. Underwater scenes are challenging visual enviro…