9 papers
AQUAACT: A Joystick-Level Underwater Teleoperation Dataset and Closed-Loop Benchmark
Zhenqi Wu, Trung Tien Dong, Aditya Penumarti +5
Underwater robots support a growing range of work, from inspecting offshore structures and pipelines to surveying reefs and accompanying divers. Most of these tasks, however, are s…
SURGE: Sonar-fUsed Reconstruction and localization via image-gated Graph Estimation
Mohammed Ibrahim M, Vallabh Deogaonkar, Trung Dong +3
Remotely operated vehicles (ROVs) are widely used to explore and inspect underwater environments such as caves, shipwrecks, and submerged infrastructure. These missions require acc…
AquaBEV-Nav: Learned BEV Occupancy for Underwater Navigation and Exploration
Trung Tien Dong, Zhenqi Wu, Sahasra Kondapalli +3
Safe underwater exploration requires a robot to understand where surrounding structures are located and which regions are available for motion. Existing vision-based underwater exp…
One Model, Two Worlds: Bidirectional Sonar-Optical Translation
Shengji Jin, Trung Tien Dong, Ahmed Lamidi +3
Translating between imaging sonar and optical cameras is valuable for underwater perception, but supporting both directions with separate models duplicates storage and computation.…
AquaBEV: Monocular Underwater BEV Occupancy with 3D Sonar Supervision
Trung Tien Dong, Shengji Jin, Chen Chen +2
Autonomous underwater robots are widely used for exploration, monitoring, and inspection, where safe navigation depends on understanding the surrounding free and occupied space. Bi…
Calibration and Comparative Analysis of Forward-Looking Sonar and 3D Sonar for Enhanced Underwater Object Recognition
Aditya Penumarti, Khanh Dong, Zi-Hao Zhang +6
Sonars generate a significant amount of noise. With the advent of new technology capable of producing full 3D point clouds, the noise is amplified in sparse point clouds, making it…
uScenes: A Multimodal RGB and 3D Sonar Dataset for Underwater Robot Perception
Trung Tien Dong, Zhenqi Wu, Aditya Penumarti +4
Robust perception is essential for the deployment of autonomous underwater robots. However, optical cameras become unreliable under poor illumination and backscatter. Forward looki…
Embodied Foundation Models at the Edge: A Survey of Deployment Constraints and Mitigation Strategies
Utkarsh Grover, Ravi Ranjan, Mingyang Mao +9
Deploying foundation models in embodied edge systems is fundamentally a systems problem, not just a problem of model compression. Real-time control must operate within strict size,…
Post Fusion Bird's Eye View Feature Stabilization for Robust Multimodal 3D Detection
Trung Tien Dong, Dev Thakkar, Arman Sargolzaei +1
Camera-LiDAR fusion is widely used in autonomous driving to enable accurate 3D object detection. However, bird's-eye view (BEV) fusion detectors can degrade significantly under dom…