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Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude , position, and linear velocity. The true navigation dynamics are highly nonlinear and are modeled on the matrix…
Maritime domain is one of the most challenging scenarios for object detection due to the complexity of the observed scene. In this article, we present a new approach to detect unidentified floating objects in the maritime environment. The…
Semantic segmentation is one of the basic, yet essential scene understanding tasks for an autonomous agent. The recent developments in supervised machine learning and neural networks have enjoyed great success in enhancing the performance…
Rapid and reliable identification of dynamic scene parts, also known as motion segmentation, is a key challenge for mobile sensors. Contemporary RGB camera-based methods rely on modeling camera and scene properties however, are often…
The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…
The paper presents a direct visual-inertial odometry system. In particular, a tightly coupled nonlinear optimization based method is proposed by integrating the recent advances in direct dense tracking and Inertial Measurement Unit (IMU)…
We propose Super Odometry, a high-precision multi-modal sensor fusion framework, providing a simple but effective way to fuse multiple sensors such as LiDAR, camera, and IMU sensors and achieve robust state estimation in…
In this work we present a method for performance evaluation of stereo vision based obstacle detection techniques that takes into account the specifics of road situation analysis to minimize the effort required to prepare a test dataset.…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is frequently deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, using side-scan images to perform simultaneous localization and…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and…
Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…
Image segmentation is critical for applications such as medical imaging, augmented reality, and video surveillance. However, segmentation models often lack robustness, making them vulnerable to adversarial perturbations from subtle image…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
Semantic segmentation is one of the core tasks in the field of computer vision, and its goal is to accurately classify each pixel in an image. The traditional Unet model achieves efficient feature extraction and fusion through an…
This letter introduces a novel unmanned aerial vehicle (UAV)-intelligent reflecting surface (IRS) structure into near-field localization systems to enhance the design flexibility of IRS, thereby obtaining additional performance gains.…
Semantic segmentation of aerial videos has been extensively used for decision making in monitoring environmental changes, urban planning, and disaster management. The reliability of these decision support systems is dependent on the…
Autonomous vehicles are the next revolution in the automobile industry and they are expected to revolutionize the future of transportation. Understanding the scenario in which the autonomous vehicle will operate is critical for its…
One of the most relevant tasks in an intelligent vehicle navigation system is the detection of obstacles. It is important that a visual perception system for navigation purposes identifies obstacles, and it is also important that this…
This paper presents a novel approach to vehicle positioning that operates without reliance on the global navigation satellite system (GNSS). Traditional GNSS approaches are vulnerable to interference in certain environments, rendering them…
Stationary Wavelet Transform (SWT) is an efficient tool for edge analysis. This paper a new edge detection technique using SWT based Hidden Markov Model (WHMM) along with the expectation-maximization (EM) algorithm is proposed. The SWT…