Publications

A Framework for the Unsupervised Inference of Relations Between Sensed Object Spatial Distributions and Robot Behaviors

Christopher Morse, Lu Feng, Matthew Dwyer, Sebastian Elbaum

The spatial distribution of sensed objects strongly influences the behavior of mobile robots. Yet, as robots evolve in complexity to operate in increasingly rich environments, it becomes much more difficult specify the underlying relations between spatial object distributions and robot behavior. We aim to address this challenge by leveraging system… Read more

Resources: [Paper] [Repo] [Video]

Semantic Segmentation of Underwater Imagery: Dataset and Benchmark

Md Jahidul Islam, Chelsey Edge, Yuyang Xiao, Peigen Luo, Muntaqim Mehtaz, Christopher Morse, Sadman Sakib Enan, Junaed Sattar

In this paper, we present the first large-scale dataset for semantic Segmentation of Underwater IMagery (SUIM). It contains over 1500 images with pixel annotations for eight object categories: fish (vertebrates), reefs (invertebrates), aquatic plants, wrecks/ruins, human divers, robots, and sea-floor. The images have been rigorously collected during oceanic explorations and… Read more

Resources: [Paper] [Repo]