A YOLO-based object detector with an extra regression head estimates distances to maritime objects from monocular USV images, achieving mean errors of roughly 15 to 50 meters depending on range.
A survey on unmanned surface vehicles for disaster robotics: Main challenges and directions,
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Approximate Supervised Object Distance Estimation on Unmanned Surface Vehicles
A YOLO-based object detector with an extra regression head estimates distances to maritime objects from monocular USV images, achieving mean errors of roughly 15 to 50 meters depending on range.