Junaed Sattar
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View article: Reactions and Engagement of Individuals with Dementia Toward Humanoid Assistive Robots: A Study Using the Pepper Robot
Reactions and Engagement of Individuals with Dementia Toward Humanoid Assistive Robots: A Study Using the Pepper Robot Open
While robot acceptance in different populations is well-studied, little is known about how individuals with dementia perceive and respond to humanoid assistive robots. This paper explores how individuals affected by dementia react to and e…
View article: Design and Development of the MeCO Open-Source Autonomous Underwater Vehicle
Design and Development of the MeCO Open-Source Autonomous Underwater Vehicle Open
We present MeCO, the Medium Cost Open-source autonomous underwater vehicle (AUV), a versatile autonomous vehicle designed to support research and development in underwater human-robot interaction (UHRI) and marine robotics in general. An i…
View article: One-Shot Gesture Recognition for Underwater Diver-To-Robot Communication
One-Shot Gesture Recognition for Underwater Diver-To-Robot Communication Open
Reliable human-robot communication is essential for underwater human-robot interaction (U-HRI), yet traditional methods such as acoustic signaling and predefined gesture-based models suffer from limitations in adaptability and robustness. …
View article: IBURD: Image Blending for Underwater Robotic Detection
IBURD: Image Blending for Underwater Robotic Detection Open
We present an image blending pipeline, \textit{IBURD}, that creates realistic synthetic images to assist in the training of deep detectors for use on underwater autonomous vehicles (AUVs) for marine debris detection tasks. Specifically, IB…
View article: Autonomous robotic re-alignment for face-to-face underwater human-robot interaction
Autonomous robotic re-alignment for face-to-face underwater human-robot interaction Open
The use of autonomous underwater vehicles (AUVs) to accomplish traditionally challenging and dangerous tasks has proliferated thanks to advances in sensing, navigation, manipulation, and on-board computing technologies. Utilizing AUVs in u…
View article: Robotic Detection and Estimation of Single Scuba Diver Respiration Rate from Underwater Video
Robotic Detection and Estimation of Single Scuba Diver Respiration Rate from Underwater Video Open
Human respiration rate (HRR) is an important physiological metric for diagnosing a variety of health conditions from stress levels to heart conditions. Estimation of HRR is well-studied in controlled terrestrial environments, yet robotic e…
View article: Diver Interest via Pointing in Three Dimensions: 3D Pointing Reconstruction for Diver-AUV Communication
Diver Interest via Pointing in Three Dimensions: 3D Pointing Reconstruction for Diver-AUV Communication Open
This paper presents Diver Interest via Pointing in Three Dimensions (DIP-3D), a method to relay an object of interest from a diver to an autonomous underwater vehicle (AUV) by pointing that includes three-dimensional distance information t…
View article: Adaptive Landmark Color for AUV Docking in Visually Dynamic Environments
Adaptive Landmark Color for AUV Docking in Visually Dynamic Environments Open
Autonomous Underwater Vehicles (AUVs) conduct missions underwater without the need for human intervention. A docking station (DS) can extend mission times of an AUV by providing a location for the AUV to recharge its batteries and receive …
View article: Diver Identification Using Anthropometric Data Ratios for Underwater Multi-Human-Robot Collaboration
Diver Identification Using Anthropometric Data Ratios for Underwater Multi-Human-Robot Collaboration Open
Recent advances in efficient design, perception algorithms, and computing hardware have made it possible to create improved human-robot interaction (HRI) capabilities for autonomous underwater vehicles (AUVs). To conduct secure missions as…
View article: Diver Interest via Pointing: Human-Directed Object Inspection for AUVs
Diver Interest via Pointing: Human-Directed Object Inspection for AUVs Open
In this paper, we present the Diver Interest via Pointing (DIP) algorithm, a highly modular method for conveying a diver's area of interest to an autonomous underwater vehicle (AUV) using pointing gestures for underwater human-robot collab…
View article: HREyes: Design, Development, and Evaluation of a Novel Method for AUVs to Communicate Information and Gaze Direction
HREyes: Design, Development, and Evaluation of a Novel Method for AUVs to Communicate Information and Gaze Direction Open
We present the design, development, and evaluation of HREyes: biomimetic communication devices which use light to communicate information and, for the first time, gaze direction from AUVs to humans. First, we introduce two types of informa…
View article: A Diver Attention Estimation Framework for Effective Underwater Human-Robot Interaction
A Diver Attention Estimation Framework for Effective Underwater Human-Robot Interaction Open
Many underwater tasks, such as cable-and-wreckage inspection and search-and-rescue, can benefit from robust Human-Robot Interaction (HRI) capabilities. With the recent advancements in vision-based underwater HRI methods, Autonomous Underwa…
View article: Robotic Detection of a Human-Comprehensible Gestural Language for Underwater Multi-Human-Robot Collaboration
Robotic Detection of a Human-Comprehensible Gestural Language for Underwater Multi-Human-Robot Collaboration Open
In this paper, we present a motion-based robotic communication framework that enables non-verbal communication among autonomous underwater vehicles (AUVs) and human divers. We design a gestural language for AUV-to-AUV communication which c…
View article: Underwater Robot-To-Human Communication Via Motion: Implementation and Full-Loop Human Interface Evaluation
Underwater Robot-To-Human Communication Via Motion: Implementation and Full-Loop Human Interface Evaluation Open
Autonomous underwater vehicles (AUVs) have long lagged behind other types of robots in supporting natural communication modes for human-robot interaction.Due to the limitations of the environment, most AUVs use digital displays or topside …
View article: Robot Communication Via Motion: A Study on Modalities for Robot-to-Human Communication in the Field
Robot Communication Via Motion: A Study on Modalities for Robot-to-Human Communication in the Field Open
In this article, we propose, implement, and evaluate a motion-based communication system for field robots: robots that operate in dynamic, unstructured, outdoor environments. We perform two pilot studies to guide our development of the sys…
View article: Fast Direct Stereo Visual SLAM
Fast Direct Stereo Visual SLAM Open
We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing t…
View article: Using Monocular Vision and Human Body Priors for AUVs to Autonomously Approach Divers
Using Monocular Vision and Human Body Priors for AUVs to Autonomously Approach Divers Open
Direct communication between humans and autonomous underwater vehicles (AUVs) is a relatively underexplored area in human-robot interaction (HRI) research, although many tasks (\eg surveillance, inspection, and search-and-rescue) require c…
View article: Continuous-Time Spline Visual-Inertial Odometry
Continuous-Time Spline Visual-Inertial Odometry Open
We propose a continuous-time spline-based formulation for visual-inertial odometry (VIO). Specifically, we model the poses as a cubic spline, whose temporal derivatives are used to synthesize linear acceleration and angular velocity, which…
View article: ROW-SLAM: Under-Canopy Cornfield Semantic SLAM
ROW-SLAM: Under-Canopy Cornfield Semantic SLAM Open
We study a semantic SLAM problem faced by a robot tasked with autonomous weeding under the corn canopy. The goal is to detect corn stalks and localize them in a global coordinate frame. This is a challenging setup for existing algorithms b…
View article: Semantically-Aware Strategies for Stereo-Visual Robotic Obstacle Avoidance
Semantically-Aware Strategies for Stereo-Visual Robotic Obstacle Avoidance Open
Mobile robots in unstructured, mapless environments must rely on an obstacle avoidance module to navigate safely. The standard avoidance techniques estimate the locations of obstacles with respect to the robot but are unaware of the obstac…
View article: A Generative Approach for Detection-driven Underwater Image Enhancement
A Generative Approach for Detection-driven Underwater Image Enhancement Open
In this paper, we introduce a generative model for image enhancement specifically for improving diver detection in the underwater domain. In particular, we present a model that integrates generative adversarial network (GAN)-based image en…
View article: An Analysis of Deep Object Detectors For Diver Detection
An Analysis of Deep Object Detectors For Diver Detection Open
With the end goal of selecting and using diver detection models to support human-robot collaboration capabilities such as diver following, we thoroughly analyze a large set of deep neural networks for diver detection. We begin by producing…
View article: Visual Diver Face Recognition for Underwater Human-Robot Interaction
Visual Diver Face Recognition for Underwater Human-Robot Interaction Open
This paper presents a deep-learned facial recognition method for underwater robots to identify scuba divers. Specifically, the proposed method is able to recognize divers underwater with faces heavily obscured by scuba masks and breathing …
View article: SVAM: Saliency-guided Visual Attention Modeling by Autonomous Underwater\n Robots
SVAM: Saliency-guided Visual Attention Modeling by Autonomous Underwater\n Robots Open
This paper presents a holistic approach to saliency-guided visual attention\nmodeling (SVAM) for use by autonomous underwater robots. Our proposed model,\nnamed SVAM-Net, integrates deep visual features at various scales and semantics\nfor…
View article: SVAM: Saliency-guided Visual Attention Modeling by Autonomous Underwater Robots
SVAM: Saliency-guided Visual Attention Modeling by Autonomous Underwater Robots Open
This paper presents a holistic approach to saliency-guided visual attention modeling (SVAM) for use by autonomous underwater robots. Our proposed model, named SVAM-Net, integrates deep visual features at various scales and semantics for ef…
View article: IMU-Assisted Learning of Single-View Rolling Shutter Correction
IMU-Assisted Learning of Single-View Rolling Shutter Correction Open
Rolling shutter distortion is highly undesirable for photography and computer vision algorithms (e.g., visual SLAM) because pixels can be potentially captured at different times and poses. In this paper, we propose a deep neural network to…
View article: Learning Rolling Shutter Correction from Real Data without Camera Motion Assumption.
Learning Rolling Shutter Correction from Real Data without Camera Motion Assumption. Open
The rolling shutter mechanism in modern cameras generates distortions as the images are formed on the sensor through a row-by-row readout process; this is highly undesirable for photography and vision-based algorithms (e.g., structure-from…
View article: Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle
Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle Open
In this paper we present LoCO AUV, a Low-Cost, Open Autonomous Underwater Vehicle. LoCO is a general-purpose, single-person-deployable, vision-guided AUV, rated to a depth of 100 meters. We discuss the open and expandable design of this un…
View article: Semantic Segmentation of Underwater Imagery: Dataset and Benchmark
Semantic Segmentation of Underwater Imagery: Dataset and Benchmark Open
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), aqu…