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We propose a novel approach to handling the ambiguity in elevation angle associated with the observations of a forward looking multi-beam imaging sonar, and the challenges it poses for performing an accurate 3D reconstruction. We utilize a…
Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…
Buried survivor detection in the post-disaster environment by employing radar as sensor is an appealing approach. However, the implementation in the real field is challenging especially for large observation missions. Mounting the radar on…
Recent progress in synthetic aperture sonar (SAS) technology and processing has led to significant advances in underwater imaging, outperforming previously common approaches in both accuracy and efficiency. There are, however, inherent…
Autonomous field robots operating in unstructured environments require robust perception to ensure safe and reliable operations. Recent advances in monocular depth estimation have demonstrated the potential of low-cost cameras as depth…
We present the concept of X-Vision, an enhanced Augmented Reality (AR)-based visualization tool, with the real-time sensing capability in a tagged environment. We envision that this type of a tool will enhance the user-environment…
This paper presents a novel software-based approach to stabilizing the acoustic images for in-air 3D sonars. Due to uneven terrain, traditional static beamforming techniques can be misaligned, causing inaccurate measurements and imaging…
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…
We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
This paper introduces a statistical model and corresponding sequential Bayesian estimation method for terrain-based navigation using side-scan sonar (SSS) data. The presented approach relies on slant range measurements extracted from the…
Search and rescue (SAR) missions require reliable search methods to locate survivors, especially in challenging or inaccessible environments. This is why introducing unmanned aerial vehicles (UAVs) can be of great help to enhance the…
We investigate the use of Low Energy Ion Scattering (LEIS) to characterize buried interfaces of ultra-thin films. LEIS spectra contain depth-resolved information in the so-called sub-surface signal. However, the exact correlation between…
On-orbit proximity operations in space rendezvous, docking and debris removal require precise and robust 6D pose estimation under a wide range of lighting conditions and against highly textured background, i.e., the Earth. This paper…
Earth observation (EO) plays a crucial role in creating and sustaining a resilient and prosperous society that has far reaching consequences for all life and the planet itself. Remote sensing platforms like satellites, airborne platforms,…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
We present a high-fidelity Mixed Reality sensor emulation framework for testing and evaluating the resilience of Unmanned Aerial Vehicles (UAVs) against false data injection (FDI) attacks. The proposed approach can be utilized to assess the…
Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…
Computed ultrasound tomography in echo mode generates maps of tissue speed of sound (SoS) from the shift of echoes when detected under varying steering angles. It solves a linearized inverse problem that requires regularization to…
Deep learning for detecting objects in remotely sensed imagery can enable new technologies for important applications including mitigating climate change. However, these models often require large datasets labeled with bounding box…