A low-cost AUV tracks a cave guide line using lightweight semantic segmentation and a PID controller, with credible tank and open-water results but only limited, partially unsuccessful cave tests.
American Cave Diving Fatalities 1969-2007
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Demonstrating CavePI: Autonomous Exploration of Underwater Caves by Semantic Guidance
A low-cost AUV tracks a cave guide line using lightweight semantic segmentation and a PID controller, with credible tank and open-water results but only limited, partially unsuccessful cave tests.