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We have constructed an algorithm that is able to classify generic sonar objects as divers or not divers. This process was made difficult by the fact that human divers produce amorphous blobs when ensonfied with 2D imaging sonar, which makes it difficult to use state-of-the-art Computer Vision classification algorithms to classify sonar objects.
In this work we have developed a multiple object tracker that is capable of tracking objects that produce fragmented returns when ensonified. The fact that the types of objects that we are tracking (e.g., divers) produce multiple returns required us to develop an augmentation to the classical multi-hypothesis tracking approach. To account for the fragmented object returns, a novel adaptive Kalman...
Divers have to perform technical underwater tasks in dangerous and unstructured environments. To reduce a diver's workload and improve overall safety, an underwater robotic assistant (UWRA) could be deployed with the diver. The UWRA could assist the diver in navigation, quickly ferry tools from the surface, and carry underwater samples. To develop and test the autonomy required for such a UWRA, autonomy...
Despite advances in underwater technology, human divers are still employed to carry out a wide variety of dangerous underwater tasks. To enable a diver to complete tasks safer and more efficiently, it is proposed that an Underwater Robotic Assistant (UWRA) could act as a robotic dive buddy. For example, the UWRA could ferry tools from the surface, carry scientific samples, and provide illumination...
While monitoring their own life support systems, underwater divers have to perform complex technical tasks in unstructured environments. An Underwater Robotic Assistant (UWRA) could assist a diver during the execution of these tasks by navigating the diver to the worksite, ferrying tools from the surface, and monitoring the diver's physiological responses. However, for the UWRA to be an asset to the...
An underwater robotic assistant could help a human diver by illuminating work areas, fetching tools from the surface, or monitoring the diver's activity for abnormal behavior. However, in order for basic Underwater Human-Robot Interaction (UHRI) to be successful, the robotic assistant has to first be able to detect and track the diver. This paper discusses the detection and tracking of a diver with...
Divers work in dangerous environments that place severe constraints on the types of activities that divers can accomplish. The development of a underwater robotic assistant may help a human diver accomplish tasks more efficiently and safer. However, before Underwater Human-Robot Interaction (UHRI) can be deployed in the field, the UHRI algorithms must be tested and validated in a simulator. In order...
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