Related papers: 3-D Volumetric Gamma-ray Imaging and Source Locali…
Efficient Gas Source Localization (GSL) in real-world settings is crucial, especially in emergency scenarios. Mobile robots equipped with low-cost, in-situ gas sensors offer a safer alternative to human inspection in hazardous environments.…
This paper presents a novel approach to build consistent 3D maps for multi robot cooperation in USAR environments. The sensor streams from unmanned aerial vehicles (UAVs) and ground robots (UGV) are fused in one consistent map. The UAV…
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
We propose a practical method for radiometrically calibrating cameras using widely available gaseous tritium light sources (betalights). Along with the gain(conversion factor) and read noise level, the predictable photon flux of the source…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
Hard X-ray photons with energies in the range of hundreds of keV typically undergo Compton scattering when they are incident on a detector. In this process, an incident photon deposits a fraction of its energy at the point of incidence and…
This work addresses visual cross-view metric localization for outdoor robotics. Given a ground-level color image and a satellite patch that contains the local surroundings, the task is to identify the location of the ground camera within…
The recent advancement of high-intensity lasers has made all-optical Compton scattering become a promising way to produce ultra-short brilliant $\gamma$-rays in an ultra-compact system. However, so far achieved Compton $\gamma$-ray sources…
We describe a feasible implementation of a novel X-ray detector for highly energetic x-ray photons with a large solid angle coverage, optimal for the detection of Compton x-ray scattered photons. The device consists of a 20~cm-thick…
Optically-pumped atomic magnetometers have previously been used in arrays to reject interference from far away sources and enable the sensitive detection of local sources of radio frequency (RF) signals, useful, for instance, in the…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
In this third part of a multi-paper series, we present quantitative image reconstruction results from aerial measurements of eight different surrogate distributed gamma-ray sources on flat terrain. We show that our quantitative imaging…
Measurements of the linear polarization of high-energy emission from pulsars, accreting black holes, and gamma-ray bursts (GRBs) provide an opportunity for constraining the emission mechanisms and geometries (e.g., of the accretion disk,…
This paper presents the use of multi-sensor measurement system to guide autonomous mobile robot in the house. The system allows the 3D image acquisition to global mapping, and algorithms to reduce the dimensionality of images to 2D global…
At GeV energies, the sky is dominated by the interstellar emission from the Galaxy. With limited statistics and spatial resolution, accurately separating point sources is therefore challenging. Here we present the first application of deep…
We describe a very compact (0.9 m high, 0.4 m diameter, 40 kg) battery operable neutron scatter camera designed for field deployment. Unlike most other systems, the configuration of the sixteen liquid-scintillator detection cells are…
We calculate the synchrotron self-Compton emission from internal shocks occurring in relativistic winds as a source of gamma-ray bursts, with allowance for self-absorption. For plausible model parameters most pulses within a Gamma-Ray Burst…
In this paper, we tackle the problem of localizing the source of a three-dimensional signal field with a team of mobile robots able to collect noisy measurements of its strength and share information with each other. The adopted strategy is…
High efficiency in precision farming depends on accurate tools to perform weed detection and mapping of crops. This allows for precise removal of harmful weeds with a lower amount of pesticides, as well as increase of the harvest's yield by…