Monocular Camera and Single-Beam Sonar-Based Underwater Collision-Free Navigation with Domain Randomization

Authors: Pengzhi Yang, Haowen Liu, Monika Roznere, Alberto Quattrini Li

If you use this code in an academic work, please cite:

  @inproceedings{yang2022isrr,
    title={Monocular Camera and Single-Beam Sonar-Based Underwater Collision-Free Navigation with Domain Randomization}, 
    author={Yang, Pengzhi AND Liu, Haowen AND Roznere, Monika AND {Quattrini Li}, Alberto}, 
    booktitle={Proc. International Symposium on Robotics Research (ISRR)}, 
    year={2022}
   }

Repository structure

Robotics_Navigation contains the code for the Deep RL approach that we wrote.

Optically-Realistic-Water contains the code for the Unity simulation of realistic underwater scenes that was used for generating realistic environments in our project.