Huy Xuan Pham — accepted AI-conference papers

2023

MIMIR-UW: A Multipurpose Synthetic Dataset for Underwater Navigation and Inspection

Olaya Álvarez-Tuñón, Hemanth Kanner, Luiza Ribeiro Marnet, Huy Xuan Pham, Jonas le Fevre Sejersen, Yury Brodskiy +1

IROS 2023poster

This paper presents MIMIR-UW, a multipurpose underwater synthetic dataset for SLAM, depth estimation, and object segmentation to bridge the gap between theory and application in underwater environments. MIMIR-UW integrates three camera sensors, inertial measurements, and ground truth for robot pose,…

Cited by 14 Source ↗code ↗Scholar ↗

2022

PencilNet: Zero-Shot Sim-to-Real Transfer Learning for Robust Gate Perception in Autonomous Drone Racing

Huy Xuan Pham, Andriy Sarabakha, Mykola Odnoshyvkin, Erdal Kayacan

RA-L 2022

In autonomous and mobile robotics, one of the main challenges is the robust on-the-fly perception of the environment, which is often unknown and dynamic, like in autonomous drone racing. In this work, we propose a novel deep neural network-based perception method for racing gate detection – PencilNe

Cited by 22 Source ↗code ↗Scholar ↗

2021

GateNet: An Efficient Deep Neural Network Architecture for Gate Perception Using Fish-Eye Camera in Autonomous Drone Racing

Huy Xuan Pham, Ilker Bozcan, Andriy Sarabakha, Sami Haddadin, Erdal Kayacan

IROS 2021poster

Fast and robust gate perception is of great importance in autonomous drone racing. We propose a convolutional neural network-based gate detector (GateNet1) that concurrently detects gate’s center, distance, and orientation with respect to the drone using only images from a single fish-eye RGB camera…

Cited by 12 Source ↗Scholar ↗