-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathindex.html
536 lines (484 loc) · 15 KB
/
index.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html>
<script type="text/javascript" charset="utf-8" src="https://ajax.googleapis.com/ajax/libs/jquery/1.3.2/jquery.min.js"></script>
<script id="MathJax-script" async src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
<style type="text/css">
body {
font-family: "Titillium Web", "HelveticaNeue-Light", "Helvetica Neue Light", "Helvetica Neue", Helvetica, Arial, "Lucida Grande", sans-serif;
font-weight: 300;
font-size: 17px;
margin-left: auto;
margin-right: auto;
}
@media screen and (min-width: 980px){
body {
width: 980px;
}
}
h1 {
font-weight:300;
line-height: 1.15em;
}
h2 {
font-size: 1.75em;
}
a:link,a:visited {
color: #5364cc;
text-decoration: none;
}
a:hover {
color: #208799;
}
h1 {
text-align: center;
}
h2,h3 {
text-align: left;
}
h1 {
font-size: 40px;
font-weight: 500;
}
h2 {
font-weight: 400;
margin: 16px 0px 4px 0px;
}
h3 {
font-weight: 600;
margin: 16px 0px 4px 0px;
}
.paper-title {
padding: 1px 0px 1px 0px;
}
section {
margin: 32px 0px 32px 0px;
text-align: justify;
clear: both;
}
.col-5 {
width: 20%;
float: left;
}
.col-4 {
width: 25%;
float: left;
}
.col-3 {
width: 33%;
float: left;
}
.col-2 {
width: 50%;
float: left;
}
.col-1 {
width: 100%;
float: left;
}
.author-row, .affil-row {
font-size: 26px;
}
.author-row-new {
text-align: center;
}
.author-row-new a {
display: inline-block;
font-size: 20px;
padding: 4px;
}
.author-row-new sup {
color: #313436;
font-size: 12px;
}
.affiliations-new {
font-size: 18px;
text-align: center;
width: 80%;
margin: 0 auto;
margin-bottom: 20px;
}
.row {
margin: 16px 0px 16px 0px;
}
.authors {
font-size: 26px;
}
.affiliatons {
font-size: 18px;
}
.affil-row {
margin-top: 18px;
}
.teaser {
max-width: 100%;
}
.text-center {
text-align: center;
}
.screenshot {
width: 256px;
border: 1px solid #ddd;
}
.screenshot-el {
margin-bottom: 16px;
}
hr {
height: 1px;
border: 0;
border-top: 1px solid #ddd;
margin: 0;
}
.material-icons {
vertical-align: -6px;
}
p {
line-height: 1.25em;
}
.caption {
font-size: 16px;
color: #666;
margin-top: 4px;
margin-bottom: 10px;
}
video {
display: block;
margin: auto;
}
figure {
display: block;
margin: auto;
margin-top: 10px;
margin-bottom: 10px;
}
#bibtex pre {
font-size: 14px;
background-color: #eee;
padding: 16px;
}
.blue {
color: #2c82c9;
font-weight: bold;
}
.orange {
color: #d35400;
font-weight: bold;
}
.flex-row {
display: flex;
flex-flow: row wrap;
padding: 0;
margin: 0;
list-style: none;
}
.paper-btn-coming-soon {
position: relative;
top: 0;
left: 0;
}
.coming-soon {
position: absolute;
top: -15px;
right: -15px;
}
.paper-btn {
position: relative;
text-align: center;
display: inline-block;
margin: 8px;
padding: 8px 8px;
border-width: 0;
outline: none;
border-radius: 2px;
background-color: #5364cc;
color: white !important;
font-size: 20px;
width: 100px;
font-weight: 600;
}
.paper-btn-parent {
display: flex;
justify-content: center;
margin: 16px 0px;
}
.paper-btn:hover {
opacity: 0.85;
}
.container {
margin-left: auto;
margin-right: auto;
padding-left: 16px;
padding-right: 16px;
}
.venue {
font-size: 23px;
}
.topnav {
background-color: #EEEEEE;
overflow: hidden;
}
.topnav div {
max-width: 1070px;
margin: 0 auto;
}
.topnav a {
display: inline-block;
color: black;
text-align: center;
vertical-align: middle;
padding: 16px 16px;
text-decoration: none;
font-size: 18px;
}
.topnav img {
padding: 2px 0px;
width: 100%;
margin: 0.2em 0px 0.3em 0px;
vertical-align: middle;
}
pre {
font-size: 0.9em;
padding-left: 7px;
padding-right: 7px;
padding-top: 3px;
padding-bottom: 3px;
border-radius: 3px;
background-color: rgb(235, 235, 235);
overflow-x: auto;
}
.download-thumb {
display: flex;
}
@media only screen and (max-width: 620px) {
.download-thumb {
display: none;
}
}
.paper-stuff {
width: 50%;
font-size: 20px;
}
@media only screen and (max-width: 620px) {
.paper-stuff {
width: 100%;
}
}
* {
box-sizing: border-box;
}
.column {
text-align: center;
float: left;
width: 16.666%;
padding: 5px;
}
.column3 {
text-align: center;
float: left;
width: 33.333%;
padding: 5px;
}
.border-right {
border-right: 1px solid black;
}
.border-bottom{
border-bottom: 1px solid black;
}
/* Clearfix (clear floats) */
.row::after {
content: "";
clear: both;
display: table;
}
/* Responsive layout - makes the three columns stack on top of each other instead of next to each other */
@media screen and (max-width: 500px) {
.column {
width: 100%;
}
}
@media screen and (max-width: 500px) {
.column3 {
width: 100%;
}
}
</style>
<script type="text/javascript" src="../js/hidebib.js"></script>
<link href='https://fonts.googleapis.com/css?family=Titillium+Web:400,600,400italic,600italic,300,300italic' rel='stylesheet' type='text/css'>
<head>
<title> Opti-Acoustic Semantic SLAM with Unknown Objects in Underwater Environments</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta property="og:description" content="Opti-Acoustic Semantic SLAM for Underwater Environments"/>
<link href="https://fonts.googleapis.com/css2?family=Material+Icons" rel="stylesheet">
</head>
<body>
<div class="topnav" id="myTopnav">
<div>
<a href="https://marinerobotics.mit.edu/" ><strong>MIT Marine Robotics Group</strong></a>
</div>
</div>
<div class="container">
<div class="paper-title">
<h1>
Opti-Acoustic Semantic SLAM with Unknown Objects in Underwater Environments
</h1>
</div>
<div id="authors">
<center>
<div class="author-row-new">
<a href="https://www.linkedin.com/in/kurran-singh/">Kurran Singh<sup>1</sup></a>,
<a href="https://jungseokhong.com/">Jungseok Hong<sup>1</sup></a>,
<a href="https://nrr.mit.edu/about">Nicholas R. Rypkema<sup>2</sup></a>
<a href="https://meche.mit.edu/people/faculty/[email protected]">John J. Leonard<sup>1</sup></a>
</div>
</center>
<center>
<div class="affiliations">
<span><sup>1</sup>MIT CSAIL, <sup>2</sup>WHOI</span><br/>
{singhk,jungseok,jleonard}@mit.edu, {nrypkema@whoi}.edu
</div>
</center>
<div style="clear: both">
<div class="paper-btn-parent">
<a class="paper-btn" href="http://arxiv.org/abs/2403.12837">
<span class="material-icons"> description </span>
Paper
</a>
<div class="paper-btn-coming-soon">
<a class="paper-btn" href="https://www.dropbox.com/scl/fo/aasnt0oovh6rim4p9obb1/h?rlkey=rxnocuna9tpscm9jfgeld04pj&st=okid6egl&dl=0">
<span class="material-icons"> folder </span>
Data
</a>
</div>
</div></div>
</div>
<!-- <style>
.video-container {
width: 100%; /* Each video takes up 1/3 of the container width */
float: left; /* Float videos left to display them horizontally */
box-sizing: border-box; /* Include padding and border in the element's total width and height */
padding: 10px; /* Add padding around each video */
}
video {
width: 100%; /* Make sure the video takes up 100% of its container width */
height: auto; /* Automatically adjust height based on width to maintain aspect ratio */
}
</style>
<div class="video-container">
<video autoplay loop muted>
<source src="assets/open_set_trimmed.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
</div>
-->
<center>
<figure style="width: 100%;">
<a>
<img width="80%" src="assets/map_with_real_image.png">
</a>
<p class="caption" style="margin-bottom: 24px;"><br>
The upper portion of the image illustrates an underwater vehicle navigating through an underwater environment where various objects are placed.
The trajectory map below shows the estimated trajectory of the vehicle and the location of objects encountered during the mission. The colors are randomly
assigned based on semantics. Black lines represent correct matches, a red dashed line shows false positives due to an error from feature embedding, and
a cyan dashed line is a misaligned object match in the map due to an error from range values from the sonar sensor.
</p>
</figure>
</center>
<section id="news">
<hr>
<h2>News</h2>
<div class="row">
<div><span class="material-icons"> event </span> [October 2024] Work received <b>Best Paper Award</b> at IROS 2024 Workshop: Autonomous Robotic Systems in Aquaculture: Research Challenges and Industry Needs! </div>
<div><span class="material-icons"> event </span> [September 2024] Paper additionally accepted to IROS 2024 Workshop: Autonomous Robotic Systems in Aquaculture: Research Challenges and Industry Needs! </div>
<div><span class="material-icons"> event </span> [July 2024] Paper accepted to IROS 2024! </div>
<div><span class="material-icons"> event </span> [March 2024] <a href="https://www.dropbox.com/scl/fo/aasnt0oovh6rim4p9obb1/h?rlkey=rxnocuna9tpscm9jfgeld04pj&st=okid6egl&dl=0">Labeled training data</a> released!</div>
<div><span class="material-icons"> event </span> [March 2024] <a href="http://arxiv.org/abs/2403.12837">Paper</a> uploaded to arxiv!</div>
<div><span class="material-icons"> event </span> [March 2024] <a href="https://kurransingh.github.io/underwater-semantic-slam/">Project page</a> released!</div>
</div>
</section>
<section id="abstract"/>
<hr>
<h2>Abstract</h2>
<div class="flex-row">
<p>
Despite recent advances in semantic Simultaneous
Localization and Mapping (SLAM) for terrestrial and aerial
applications, underwater semantic SLAM remains an open and
largely unaddressed research problem due to the unique sensing
modalities and the differing object classes. This paper presents
a semantic SLAM method for underwater environments that
can identify, localize, classify, and map a wide variety of
marine objects without a priori knowledge of the scene’s
object makeup. The method performs unsupervised object
segmentation and object-level feature aggregation, and then
uses opti-acoustic sensor fusion for object localization with
probabilistic data association and graphical models for back-
end inference. Indoor and outdoor underwater datasets with a
wide variety of objects and challenging acoustic and lighting
conditions are collected for evaluation. The datasets are made
publicly available. Quantitative and qualitative results show the
proposed method achieves reduced trajectory error compared
to baseline methods, and is also able to obtain comparable map
accuracy to a baseline closed-set method that requires hand-
labeled data of all objects in the scene.
</p>
</div>
<br>
<center>
<iframe width="840" height="472.5" src="https://www.youtube.com/embed/PIkTw6k4da4?si=JO5Umnla0KLwX8DL" title="YouTube video player"
frameborder="0"
allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share"
allowfullscreen></iframe>
</center>
<br>
</section>
<section id="method"/>
<hr>
<h2>Method</h2>
<center>
<figure style="width: 100%;">
<a>
<img width="80%" src="assets/sys_diagram.png">
</a>
<p class="caption" style="margin-bottom: 24px;"><br>
The pipeline receives sensor inputs from a multibeam sonar, a monocular camera, an IMU, a DVL, and a pressure sensor. (1) Segment objects from
optical images and extract features for each segmentation mask. Features are projected into a fixed dimension for the data association process. (2) Given
the segmentation mask, its pixel centroid is used to find a corresponding range from sonar returns and estimate a 3D position of the object. (3) In parallel,
sensor readings from IMU, DVL, and pressure sensor are used to estimate odometry. Outputs from (1)-(3) are used to build a factor graph and optimize
it via iSAM2 to obtain map and trajectory estimates.
</p>
</figure>
</section>
<section id="paper">
<h2>Paper</h2>
<hr>
<div class="flex-row">
<div class="download-thumb">
<div style="box-sizing: border-box; padding: 16px; margin: auto;">
<a href="https://kurransingh.github.io/underwater-semantic-slam/"><img class="screenshot" src="assets/title_page_scrnsht.png"></a>
</div>
</div>
<div class="paper-stuff">
<p><b>Opti-Acoustic Semantic SLAM with Unknown Objects in Underwater Environments</b></p>
<p>Kurran Singh and Jungseok Hong and Nicholas R. Rypkema and John J. Leonard</p>
<div><span class="material-icons"> description </span><a href="http://arxiv.org/abs/2403.12837"> arXiv version</a></div>
<div><span class="material-icons"> insert_comment </span><a href="assets/singh2024optiacousticslam.bib"> BibTeX</a></div>
<div><span class="material-icons"> integration_instructions </span><a href="https://www.dropbox.com/scl/fo/aasnt0oovh6rim4p9obb1/h?rlkey=rxnocuna9tpscm9jfgeld04pj&st=okid6egl&dl=0"> Data</a></div>
</div>
</div>
</div>
</section>
<section id="bibtex">
<h2>Citation</h2>
<hr>
<pre><code>@inproceedings{singh2024opensetslam,
title=Opti-Acoustic Semantic SLAM with Unknown Objects in Underwater Environments,
author={Kurran Singh and Jungseok Hong and Nicholas R. Rypkema and John J. Leonard},
booktitle={arxiv Preprint},
year={2024}
}</code></pre>
</section>
<section>
This webpage template was recycled from <a href='https://nv-tlabs.github.io/LION/'>here</a>.
</section>
</div>
</body>
</html>