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cs.RO2024
Sonar-based Deep Learning in Underwater Robotics: Overview, Robustness and Challenges
Martin Aubard, Ana Madureira, Luís Teixeira +1
With the growing interest in underwater exploration and monitoring, Autonomous Underwater Vehicles (AUVs) have become essential. The recent interest in onboard Deep Learning (DL) h…
cs.RO2024
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…
cs.RO2024
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…