Underwater Image Enhancement by Convolutional Spiking Neural Networks

Underwater image enhancement (UIE) is fundamental for marine applications, including autonomous vision-based navigation. Deep learning methods using convolutional neural networks (CNN) and vision transformers advanced UIE performance. Recently, spiking neural networks (SNN) have gained attention for their lightweight design, energy efficiency, and scalability. This paper introduces UIE-SNN, the first SNN-based UIE algorithm to improve visibility of underwater images. UIE-SNN is a 19- layered convolutional spiking encoder-decoder framework with skip connections, directly trained using surrogate gradient-based backpropagation through time (BPTT) strategy. We explore and validate the influence of training datasets on energy reduction, a unique advantage of UIE-SNN architecture, in contrast to the conventional learning-based architectures, where energy consumption is model-dependent. UIE-SNN optimizes the loss function in latent space representation to reconstruct clear underwater images. Our algorithm performs on par with its non-spiking counterpart methods in terms of PSNR and structural similarity index (SSIM) at reduced timesteps ($T=5$) and energy consumption of $85\%$. The algorithm is trained on two publicly available benchmark datasets, UIEB and EUVP, and tested on unseen images from UIEB, EUVP, LSUI, U45, and our custom UIE dataset. The UIE-SNN algorithm achieves PSNR of \(17.7801~dB\) and SSIM of \(0.7454\) on UIEB, and PSNR of \(23.1725~dB\) and SSIM of \(0.7890\) on EUVP. UIE-SNN achieves this algorithmic performance with fewer operators (\(147.49\) GSOPs) and energy (\(0.1327~J\)) compared to its non-spiking counterpart (GFLOPs = \(218.88\) and Energy=\(1.0068~J\)). Compared with existing SOTA UIE methods, UIE-SNN achieves an average of \(6.5\times\) improvement in energy efficiency. The source code is available at \href{https://github.com/vidya-rejul/UIE-SNN.git}{UIE-SNN}.

EMT: A Visual Multi-Task Benchmark Dataset for Autonomous Driving in the Arab Gulf Region

This paper introduces the Emirates Multi-Task (EMT) dataset - the first publicly available dataset for autonomous driving collected in the Arab Gulf region. The EMT dataset captures the unique road topology, high traffic congestion, and distinctive characteristics of the Gulf region, including variations in pedestrian clothing and weather conditions. It contains over 30,000 frames from a dash-camera perspective, along with 570,000 annotated bounding boxes, covering approximately 150 kilometers of driving routes. The EMT dataset supports three primary tasks: tracking, trajectory forecasting and intention prediction. Each benchmark dataset is complemented with corresponding evaluations: (1) multi-agent tracking experiments, focusing on multi-class scenarios and occlusion handling; (2) trajectory forecasting evaluation using deep sequential and interaction-aware models; and (3) intention benchmark experiments conducted for predicting agents intentions from observed trajectories. The dataset is publicly available at https://avlab.io/emt-dataset, and pre-processing scripts along with evaluation models can be accessed at https://github.com/AV-Lab/emt-dataset.

Hybrid-Neuromorphic Approach for Underwater Robotics Applications: A Conceptual Framework

This paper introduces the concept of employing neuromorphic methodologies for task-oriented underwater robotics applications. In contrast to the increasing computational demands of conventional deep learning algorithms, neuromorphic technology, leveraging spiking neural network architectures, promises sophisticated artificial intelligence with significantly reduced computational requirements and power consumption, emulating human brain operational principles. Despite documented neuromorphic technology applications in various robotic domains, its utilization in marine robotics remains largely unexplored. Thus, this article proposes a unified framework for integrating neuromorphic technologies for perception, pose estimation, and haptic-guided conditional control of underwater vehicles, customized to specific user-defined objectives. This conceptual framework stands to revolutionize underwater robotics, enhancing efficiency and autonomy while reducing energy consumption. By enabling greater adaptability and robustness, this advancement could facilitate applications such as underwater exploration, environmental monitoring, and infrastructure maintenance, thereby contributing to significant progress in marine science and technology.

Dehazing-aided Multi-Rate Multi-Modal Pose Estimation Framework for Mitigating Visual Disturbances in Extreme Underwater Domain

This paper delves into the potential of DU-VIO, a dehazing-aided hybrid multi-rate multi-modal Visual-Inertial Odometry (VIO) estimation framework, designed to thrive in the challenging realm of extreme underwater environments. The cutting-edge DU-VIO framework is incorporating a GAN-based pre-processing module and a hybrid CNN-LSTM module for precise pose estimation, using visibility-enhanced underwater images and raw IMU data. Accurate pose estimation is paramount for various underwater robotics and exploration applications. However, underwater visibility is often compromised by suspended particles and attenuation effects, rendering visual-inertial pose estimation a formidable challenge. DU-VIO aims to overcome these limitations by effectively removing visual disturbances from raw image data, enhancing the quality of image features used for pose estimation. We demonstrate the effectiveness of DU-VIO by calculating RMSE scores for translation and rotation vectors in comparison to their reference values. These scores are then compared to those of a base model using a modified AQUALOC Dataset. This study's significance lies in its potential to revolutionize underwater robotics and exploration. DU-VIO offers a robust solution to the persistent challenge of underwater visibility, significantly improving the accuracy of pose estimation. This research contributes valuable insights and tools for advancing underwater technology, with far-reaching implications for scientific research, environmental monitoring, and industrial applications.

BVE + EKF: A viewpoint estimator for the estimation of the object's position in the 3D task space using Extended Kalman Filters

RGB-D sensors face multiple challenges operating under open-field environments because of their sensitivity to external perturbations such as radiation or rain. Multiple works are approaching the challenge of perceiving the 3D position of objects using monocular cameras. However, most of these works focus mainly on deep learning-based solutions, which are complex, data-driven, and difficult to predict. So, we aim to approach the problem of predicting the 3D objects' position using a Gaussian viewpoint estimator named best viewpoint estimator (BVE) powered by an extended Kalman filter (EKF). The algorithm proved efficient on the tasks and reached a maximum average Euclidean error of about 32 mm. The experiments were deployed and evaluated in MATLAB using artificial Gaussian noise. Future work aims to implement the system in a robotic system.

RobMOT: Robust 3D Multi-Object Tracking by Observational Noise and State Estimation Drift Mitigation on LiDAR PointCloud

This work addresses the inherited limitations in the current state-of-the-art 3D multi-object tracking (MOT) methods that follow the tracking-by-detection paradigm, notably trajectory estimation drift for long-occluded objects in LiDAR point cloud streams acquired by autonomous cars. In addition, the absence of adequate track legitimacy verification results in ghost track accumulation. To tackle these issues, we introduce a two-fold innovation. Firstly, we propose refinement in Kalman filter that enhances trajectory drift noise mitigation, resulting in more robust state estimation for occluded objects. Secondly, we propose a novel online track validity mechanism to distinguish between legitimate and ghost tracks combined with a multi-stage observational gating process for incoming observations. This mechanism substantially reduces ghost tracks by up to 80\% and improves HOTA by 7\%. Accordingly, we propose an online 3D MOT framework, RobMOT, that demonstrates superior performance over the top-performing state-of-the-art methods, including deep learning approaches, across various detectors with up to 3.28\% margin in MOTA and 2.36\% in HOTA. RobMOT excels under challenging conditions, such as prolonged occlusions and the tracking of distant objects, with up to 59\% enhancement in processing latency.

Embodied Neuromorphic Artificial Intelligence for Robotics: Perspectives, Challenges, and Research Development Stack

Robotic technologies have been an indispensable part for improving human productivity since they have been helping humans in completing diverse, complex, and intensive tasks in a fast yet accurate and efficient way. Therefore, robotic technologies have been deployed in a wide range of applications, ranging from personal to industrial use-cases. However, current robotic technologies and their computing paradigm still lack embodied intelligence to efficiently interact with operational environments, respond with correct/expected actions, and adapt to changes in the environments. Toward this, recent advances in neuromorphic computing with Spiking Neural Networks (SNN) have demonstrated the potential to enable the embodied intelligence for robotics through bio-plausible computing paradigm that mimics how the biological brain works, known as "neuromorphic artificial intelligence (AI)". However, the field of neuromorphic AI-based robotics is still at an early stage, therefore its development and deployment for solving real-world problems expose new challenges in different design aspects, such as accuracy, adaptability, efficiency, reliability, and security. To address these challenges, this paper will discuss how we can enable embodied neuromorphic AI for robotic systems through our perspectives: (P1) Embodied intelligence based on effective learning rule, training mechanism, and adaptability; (P2) Cross-layer optimizations for energy-efficient neuromorphic computing; (P3) Representative and fair benchmarks; (P4) Low-cost reliability and safety enhancements; (P5) Security and privacy for neuromorphic computing; and (P6) A synergistic development for energy-efficient and robust neuromorphic-based robotics. Furthermore, this paper identifies research challenges and opportunities, as well as elaborates our vision for future research development toward embodied neuromorphic AI for robotics.

3D tomatoes' localisation with monocular cameras using histogram filters

Performing tasks in agriculture, such as fruit monitoring or harvesting, requires perceiving the objects' spatial position. RGB-D cameras are limited under open-field environments due to lightning interferences. Therefore, in this study, we approach the use of Histogram Filters (Bayesian Discrete Filters) to estimate the position of tomatoes in the tomato plant. Two kernel filters were studied: the square kernel and the Gaussian kernel. The implemented algorithm was essayed in simulation, with and without Gaussian noise and random noise, and in a testbed at laboratory conditions. The algorithm reported a mean absolute error lower than 10 mm in simulation and 20 mm in the testbed at laboratory conditions with an assessing distance of about 0.5 m. So, the results are viable for real environments and should be improved at closer distances.

Towards Autonomous and Safe Last-mile Deliveries with AI-augmented Self-driving Delivery Robots

In addition to its crucial impact on customer satisfaction, last-mile delivery (LMD) is notorious for being the most time-consuming and costly stage of the shipping process. Pressing environmental concerns combined with the recent surge of e-commerce sales have sparked renewed interest in automation and electrification of last-mile logistics. To address the hurdles faced by existing robotic couriers, this paper introduces a customer-centric and safety-conscious LMD system for small urban communities based on AI-assisted autonomous delivery robots. The presented framework enables end-to-end automation and optimization of the logistic process while catering for real-world imposed operational uncertainties, clients' preferred time schedules, and safety of pedestrians. To this end, the integrated optimization component is modeled as a robust variant of the Cumulative Capacitated Vehicle Routing Problem with Time Windows, where routes are constructed under uncertain travel times with an objective to minimize the total latency of deliveries (i.e., the overall waiting time of customers, which can negatively affect their satisfaction). We demonstrate the proposed LMD system's utility through real-world trials in a university campus with a single robotic courier. Implementation aspects as well as the findings and practical insights gained from the deployment are discussed in detail. Lastly, we round up the contributions with numerical simulations to investigate the scalability of the developed mathematical formulation with respect to the number of robotic vehicles and customers.

DFR-FastMOT: Detection Failure Resistant Tracker for Fast Multi-Object Tracking Based on Sensor Fusion

Persistent multi-object tracking (MOT) allows autonomous vehicles to navigate safely in highly dynamic environments. One of the well-known challenges in MOT is object occlusion when an object becomes unobservant for subsequent frames. The current MOT methods store objects information, like objects' trajectory, in internal memory to recover the objects after occlusions. However, they retain short-term memory to save computational time and avoid slowing down the MOT method. As a result, they lose track of objects in some occlusion scenarios, particularly long ones. In this paper, we propose DFR-FastMOT, a light MOT method that uses data from a camera and LiDAR sensors and relies on an algebraic formulation for object association and fusion. The formulation boosts the computational time and permits long-term memory that tackles more occlusion scenarios. Our method shows outstanding tracking performance over recent learning and non-learning benchmarks with about 3% and 4% margin in MOTA, respectively. Also, we conduct extensive experiments that simulate occlusion phenomena by employing detectors with various distortion levels. The proposed solution enables superior performance under various distortion levels in detection over current state-of-art methods. Our framework processes about 7,763 frames in 1.48 seconds, which is seven times faster than recent benchmarks. The framework will be available at https://github.com/MohamedNagyMostafa/DFR-FastMOT.