5 papers
FinsSim: A Reality-Aligned Integrated Simulation Platform for Underwater Robot Learning
Yu Zhang, Yuanmingqing Song, Xiangyun Rao +4
Underwater robot learning relies on simulators that integrate high-fidelity hydrodynamics, convenient learning interfaces, and a credible transition to real scenarios. In this work…
Underwater Visual Target Tracking with Target-Specific Depth Estimation and Adaptive Model-Fusion Predictive Control
Yuheng Zhou, Haiyang Cheng, Yanqi Feng +5
Vision-based underwater target tracking is challenged by unreliable depth measurements and unknown target motion. This paper proposes a stereo visual-servoing framework for an auto…
Aucamp: An Underwater Camera-Based Multi-Robot Platform with Low-Cost, Distributed, and Robust Localization
Jisheng Xu, Ding Lin, Pangkit Fong +3
This paper introduces an underwater multi-robot platform, named Aucamp, characterized by cost-effective monocular-camera-based sensing, distributed protocol and robust orientation…
AquaGS: Fast Underwater Scene Reconstruction with SfM-Free Gaussian Splatting
Junhao Shi, Jisheng Xu, Jianping He +1
Underwater scene reconstruction is a critical tech-nology for underwater operations, enabling the generation of 3D models from images captured by underwater platforms. However, the…
LU2Net: A Lightweight Network for Real-time Underwater Image Enhancement
Haodong Yang, Jisheng Xu, Zhiliang Lin +1
Computer vision techniques have empowered underwater robots to effectively undertake a multitude of tasks, including object tracking and path planning. However, underwater optical…