Core Concepts
CaveSeg is a groundbreaking dataset and learning pipeline for semantic segmentation in underwater caves, enabling safe and efficient AUV navigation.
Abstract
Abstract: CaveSeg introduces a visual learning pipeline for semantic segmentation in underwater caves, addressing the scarcity of annotated data.
Introduction and Background: Underwater caves' significance in climate and groundwater monitoring is highlighted, emphasizing the challenges of human exploration.
Enabling Autonomous Underwater Vehicles: The importance of AUVs in cave exploration and mapping is discussed, along with previous work on camera trajectory estimation.
CaveSeg Dataset: Details on the dataset preparation, object categories, and locations where data was collected are provided.
CaveSeg Model: The architecture and training pipeline of the CaveSeg model are explained, focusing on efficiency and performance.
Performance Analyses: Quantitative and qualitative evaluations of CaveSeg's performance compared to other models are presented.
Use Cases: Various scenarios for vision-based cave exploration, navigation, and mapping using CaveSeg are discussed.
Conclusion and Future Work: The paper concludes by highlighting the significance of CaveSeg and potential future research directions.
Stats
"Our processed data contain 3350 pixel-annotated samples with 13 object categories."
"The proposed CaveSeg model is over 3× more memory efficient and offers 1.8× faster inference than SOTA models."
"The CaveSeg model offers up to 1.8× faster inference rates compared to other competitive models."
Quotes
"We address the problem of scarce annotated training data by preparing a comprehensive dataset for semantic segmentation of underwater cave scenes."
"The proposed model and benchmark dataset open up promising opportunities for future research in autonomous underwater cave exploration and mapping."