An in-air trained diffusion navigation policy, whose depth encoder is fine-tuned on underwater depth estimation, drives a BlueROV2 through cluttered water using only camera images.
Human diver-inspired visual navigation: Towards coverage path planning of shipwrecks,
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DUViN: Diffusion-Based Underwater Visual Navigation via Knowledge-Transferred Depth Features
An in-air trained diffusion navigation policy, whose depth encoder is fine-tuned on underwater depth estimation, drives a BlueROV2 through cluttered water using only camera images.