Publications

2024

Vision-Based Computational Methods Towards Effective Underwater Multi-Human-Robot Interaction

Sadman Sakib Enan
Ph.D. Thesis. April 2024.

Thesis
 

Toward Visual Communication Methods for Underwater Human-Robot Interaction

Chelsey Edge
Ph.D. Thesis. April 2024.

Thesis
 

Diver Identification Using Anthropometric Data Ratios for Underwater Multi-Human-Robot Collaboration

Jungseok Hong, Sadman Sakib Enan, and Junaed Sattar
Robotics and Automation - Letters, February 2014, Early Access, DOI: 10.1109/LRA.2024.3366026.

LoCO & Diver
Diver Pose
Paper
 

Adaptive Landmark Color for AUV Docking in Visually Dynamic Environments

Corey Knutson, Zhipeng Cao, and Junaed Sattar
Accepted  for publication at the IEEE International Conference on Robotics and Automation (ICRA 2024). Yokohama, Japan, 2024.

loco_ds_rotated
seacube_safl
PrePrint
 

Autonomous Robotic Re-alignment for Face-to-Face Underwater Human-Robot Interaction

Demetrious T. Kutzke, Ashwin Warriar, and Junaed Sattar
Accepted  for publication at the IEEE International Conference on Robotics and Automation (ICRA 2024). Yokohama, Japan, 2024.

Diver Ocean Pose Keypoints
chelsey_demo_photo_sm
PrePrint
2023

A Quantitative Evaluation of Bathymetry-based Bayesian Localization Methods for Autonomous Underwater Robots

Jungseok Hong, Michael Fulton, Kevin Orpen, Kimberly Barthelemy, Keara Berlin, and Junaed Sattar 

Journal article under review. 

Robotpose
robotnonlinear

PrePrint

BibTex

Project

 

SIREN: Underwater Robot-To-Human Communication Using Audio

Michael Fulton, Junaed Sattar, and Rafa Absar*
IEEE Robotics and Automation Letters, Volume 8, Number 10, Pages 6139-6146, October 2023, doi: 10.1109/LRA.2023.3303719 (published August 9, 2023). Presented (Oral session) at the International Conference on Robotics and Automation (ICRA), May 2024, Yokohama, Japan.

*Assistant Professor, Computer Science and Cybersecurity, Metro State University. Saint Paul, MN, USA.

Soneme Intro
Symbol Clustering
Paper
 

Toward Robotic Autonomy in Data-Scarce and Visually Challenging Environments

Jungseok Hong.
Ph.D. Thesis. May 2023.

Thesis
 

Natural, Robust, and Multi-Modal Human-Robot Interaction For Underwater Robots

Michael Scott Fulton.
Ph.D. Thesis. March 2023.

Thesis
 

HREyes: Design, Development, and Evaluation of A Novel Method for AUVs to Communicate Information and Gaze Direction

Michael Fulton, Aditya Prabhu, and Junaed Sattar.
In proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2023). London, United Kingdom, 2023, Pages 7468-7475, doi:10.1109/ICRA48891.2023.10161179.

Paper
 

Diver Interest via Pointing: Human-Directed Object Inspection for AUVs

Chelsey Edge and Junaed Sattar.
in proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2023). London, United Kingdom, 2023, Pages 3146-3153, doi: 10.1109/ICRA48891.2023.10160292.

Whole System
Ocean DIP
Paper
2022

Robotic Detection of a Human-Comprehensible Gestural Language for Underwater Multi-Human-Robot Collaboration

Sadman Sakib Enan, Michael Fulton, and Junaed Sattar.
In proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). Kyoto, Japan, October 2022, pp. 3085-3092, doi: 10.1109/IROS47612.2022.9981450. Best Paper Award Finalist on Cognitive Robotics (sponsored by KROS).

Paper
 
SVAM: Saliency-guided Visual Attention Modeling by Autonomous Underwater Robots
 
Md Jahidul Islam, Ruobing Wang, and Junaed Sattar.

In proceedings of the Robotics: Science and Systems Conference XVIII (RSS 2022), New York, NY, June 2022.

Paper
Project
Code
 

Underwater Robot-To-Human Communication Via Motion: Implementation and Full-Loop Human Interface Evaluation

Michael Fulton, Muntaqim Mehtaz, Owen Queeglay, and Junaed Sattar.
In proceedings of the the Robotics: Science and Systems Conference XVIII (RSS 2022), New York, NY, June 2022.

Paper 
Project
 
Towards a Fast, Robust and Accurate Visual-Inertial Simultaneous Localization and Mapping System

Jiawei Mo
Ph. D. Thesis, May 2022
Thesis
 
Robot Communication Via Motion: A Study on Modalities for Robot-to-Human Communication in the Field

Michael Fulton, Chelsey Edge and Junaed Sattar
ACM Transactions on Human-Robot Interaction. Volume 11, Issue 2, No. 15, Pages 1-40, https://doi.org/10.1145/3495245
Paper
.bib
 Using Monocular Vision and Human Body Priors for AUVs to Autonomously Approach Divers

Michael Fulton, Jungseok Hong and Junaed Sattar
In proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022). Philadelphia, PA, USA. May 2022, Pages 1076-1082, doi: 10.1109/ICRA46639.2022.9811905.
Paper
.bib

 
 ROW-SLAM: Under-Canopy Cornfield Semantic SLAM

Jiacheng Yuan, Jungseok Hong, Junaed Sattar, and Volkan Isler.
In proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022). Philadelphia, PA, USA. May 2022, Pages 2244-2250, doi: 10.1109/ICRA46639.2022.9811745.
Paper
 Continuous-Time Spline Visual-Inertial Odometry

Jiawei Mo and Junaed Sattar. 
In proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2022). Philadelphia, PA, USA. May 2022, Pages 9492-9498, doi: 10.1109/ICRA46639.2022.9811586.

PrePrint

Project

Code

2021Fast Direct Stereo Visual SLAM

Jiawei Mo, Md Jahidul Islam and Junaed Sattar
IEEE Robotics and Automation Letters (RA-L). Vol. 7, No. 2, Pages 778-785, April 2022, doi: 10.1109/LRA.2021.3133860. Early Access Area.

Paper

Project

Code

 
IMU-Assisted Learning of Single-View Rolling Shutter Correction

Jiawei Mo, Md Jahidul Islam and Junaed Sattar
The Fifth Conference on Robot Learning (CoRL 2021). Hybrid Conference (London, England). November 2021.

Project

Code

PrePrint

Openreview.net

 
Predicting the Future Motion of Divers for Enhanced Underwater Human-Robot Collaboration

Tanmay Agarwal, Michael Fulton and Junaed Sattar
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). Virtual Conference (Prague, Czech Republic). Pages 5379-5386, doi: 10.1109/IROS51168.2021.9636374.
Paper
.bib
 

Towards Robust Visual Diver Detection Onboard Autonomous Underwater Robots: Assessing the Effects of Models and Data


Karin de Langis, Michael Fulton and Junaed Sattar
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). Virtual Conference (Prague, Czech Republic). Pages 5372-5378, doi: 10.1109/IROS51168.2021.9636099.
Paper
.bib
 
Machine Vision for Improved Human-Robot Cooperation in Adverse Underwater Conditions

Md. Jahidul Islam
Ph. D. Thesis, May 2021
Thesis
 
Towards Natural Underwater Human-Robot Interaction:
Pointing Gesture Recognition for Autonomous
Underwater Vehicles

Andrea M. Walker
Ms.C. Thesis (Plan A), May 2021
Thesis
 

Control System Development for LoCO AUV

Kimberley Barthelemy
Undergraduate Honors Thesis (Summa Cum Laude)

Thesis
 

Dynamic Modeling and Simulation of an Autonomous Underwater Vehicle (AUV)

Kevin Orpen
Undergraduate Honors Thesis (Summa Cum Laude)

Thesis
 
The LoCO Low-Cost, Open-Source, Autonomous Underwater Robot

The Interactive Robotics and Vision Laboratory
GitHub Landing Page
 
Robot-to-Robot Relative Pose Estimation using Humans as Markers

Md Jahidul Islam, Jiawei Mo and Junaed Sattar
Autonomous Robots 45, 579–593 (2021). https://doi.org/10.1007/s10514-021-09985-6

Pre-print

bib

 
Semantically-Aware Strategies for Stereo-Visual Robotic Obstacle Avoidance

Jungseok Hong, Karin de Langis, Cole Wyeth, Christopher Walaszek, and Junaed Sattar
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, 2021, Pages. 2450-2456, doi: 10.1109/ICRA48506.2021.9561863.2021. 
Paper
2020
TrashCan: A Semantically-Segmented Dataset towards Visual Detection of Marine Debris

Jungseok Hong, Michael Fulton, Junaed Sattar

PrePrint

Dataset 1

Dataset 2

 
Monocular Depth Estimation using Adversarial Training
Master's Thesis (Plan A)
Thesis
GitHub
 
Power-On-and-Go Capabilities for a Low-Cost Modular Autonomous Underwater Vehicle
Chelsey Edge, Sadman Sakib Enan, Michael Fulton, Jungseok Hong, Junaed Sattar

Robotics: Science and Systems (RSS) 2020 Workshop on Power On and Go Robots. Virtual RSS 2020.
Paper
 
Examining the Performance of Scale Optimized Visual Odometry in Simulated Underwater Environments
Master's Project Report (Plan B)
Report
 
Augmenting Electrocardiogram Datasets using Generative Adversarial Networks
Master's Thesis (Plan A)
Thesis
 

Md Jahidul Islam, Peigen Luo, Junaed Sattar
Robotics: Science and Systems (RSS) 2020. https://doi.org/10.15607/RSS.2020.XVI.018
Project
Code
PrePrint
 
Design and Experiments with LoCO AUV: A Low-Cost Open-Source Autonomous Underwater Vehicle

Chelsey Edge, Sadman Sakib Enan, Michael Fulton, Jungseok Hong, Jiawei Mo, Kimberly Barthelemy, Hunter Bashaw, Berik Kallevig, Corey Knutson, Kevin Orpen, Junaed Sattar.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. Virtual Conference (Las Vegas, Nevada, USA). Pages 1761-1768, doi: 10.1109/IROS45743.2020.9341007.
Project
Paper
Bib
 
 
Semantic Segmentation of Underwater Imagery: Dataset and Benchmark

Md Jahidul Islam , Chelsey Edge , Yuyang Xiao, Peigen Luo, Muntaqim Mehtaz , Christopher Morse, Sadman Sakib Enan and Junaed Sattar
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. Virtual Conference (Las Vegas, Nevada, USA). Pages 1769-1776, doi: 10.1109/IROS45743.2020.9340821.
Project
Code
Preprint
 
A Fast and Robust Place Recognition Approach for Stereo Visual Odometry using LiDAR Descriptors
 
Jiawei Mo and Junaed Sattar.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. Virtual Conference (Las Vegas, Nevada, USA). Pages 5893-5900, doi: 10.1109/IROS45743.2020.9341733.

Pre-print

Project

Bib

 
Real-Time Multi-Diver Tracking and Re-identification for Underwater Human-Robot Collaboration
 
Karin de Langis and Junaed Sattar.
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2020, Virtual Conference (Paris, France, May-June 2020). Pages 11140-11146.

Pre-Print

BibTex

Project

 
Fast Underwater Image Enhancement for Improved Visual Perception

Md Jahidul Islam, Youya Xia, and Junaed Sattar.
IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 2, pp. 3227-3234, 2020.
Project
Code 
Bib
Paper
 
A Generative Approach Towards Improved Robotic Detection of Marine Litter  

Jungseok Hong, Michael Fulton, and Junaed Sattar.
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2020, Virtual Conference (Paris, France, May-June 2020). Pages 10525-10531.
bottle
bag

Paper

Project

Bib

 
Md Jahidul Islam, Sadman Sakib Enan, Peigen Luo, Junaed Sattar
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2020, Virtual Conference (Paris, France, May-June 2020). Pages 900-906.
Project
Code
Bib
Preprint
2019
Md Jahidul Islam, Jungseok Hong, and Junaed Sattar
International Journal of Robotics Research (IJRR), 2019, doi: 10.1177/0278364919881683. [Impact Factor: 6.134]

Paper

bib

 
Jiawei Mo, Junaed Sattar
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Macau SAR, China, November 2019. Pages 6921-6927.

Pre-print

Project

Bib

 
Unmonitored Fault Detection in an AUV Using Recurrent Neural Networks
Marc Ho
UMN undergraduate honors thesis, Spring 2019

Project

 
By Land, Air, or Sea: Multi-Domain Robot Communication Via Motion
Michael Fulton, Mustaf Ahmed, and Junaed Sattar

BibTex

Project

2018
Michael Fulton, Chelsey Edge, and Junaed Sattar
Proceedings of the IEEE International Conference on Robotics and Automation, (ICRA) 2019, Montreal, Quebec, Canada. May-June 2019. Pages 4660-4666.
An interaction scenario with Aqua and a swimmer.
Unreal Engine Aqua simulation.

 

Paper

BibTex

Project

 
Md Jahidul Islam, Michael Fulton, and Junaed Sattar
IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 2, pp. 113-120, 2018.    

Paper

bib

Project

 
Md Jahidul Islam, Marc Ho and Junaed Sattar.
Journal of Field Robotics (JFR), 2018, doi: 10.1002/rob.21837. [Impact Factor: 4.345]

  Paper

   bib

 
Michael Fulton, Jungseok Hong, Md Jahidul Islam, and Junaed Sattar
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2019, Montreal, Quebec, Canada. May-June 2019. Pages 5752-5758.
yolo2
yolo3
yolo1

Paper

BibTex

 
Youya Xia and Junaed Sattar
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2019, Montreal, Quebec, Canada. May-June 2019. Pages 6839-6845.
img02
img03
img02
Pre-print
 
Cameron Fabbri, Md Jahidul Islam, and Junaed Sattar
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2018, Brisbane, Australia. May-June 2018. Pages 7159-7165.

Paper

Project

bib

 
Junaed Sattar and Gregory Dudek
Autonomous Robots. vol. 42 (1), Pages 111-124, 2018, doi: 10.1007/s10514-017-9644-y. [Impact factor: 3.634]
Fourier directions
Two divers stacked pool

Paper

BibTex

2017
Md Jahidul Islam, Marc Ho, and Junaed Sattar
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2018. Brisbane, Australia. May-June 2018. Pages 6212-6219.

Paper

Project

bib

 
Florian Shkurti, Wei-Di Chang, Peter Henderson, Md Jahidul Islam, Juan Camilo Gamboa Higuera,
Jimmy Li, Travis Manderson, Anqi Xu, Gregory Dudek, and Junaed Sattar
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Vancouver, BC, Canada. September 2017. Pages 4189-4196.

Paper

bib

 
Md Jahidul Islam and Junaed Sattar
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017, Singapore. May-June 2017. Pages 4457--4464.

Paper

Project

bib

 
SafeDrive: A Robust Lane Tracking System for Autonomous and Assisted Driving Under Limited Visibility
Jiawei Mo and Junaed Sattar
result
result_diff
 

Paper

Project

BibTex

2016
Cameron Fabbri and Junaed Sattar
Proceedings of the Conference on Computer and Robot Vision (CRV), 2016, Victoria, BC, Canada. June 2016. Pages 376-382.

Paper

Project

BibTex