Related papers: CMU-GPR Dataset: Ground Penetrating Radar Dataset …
We address the problem of robot localization using ground penetrating radar (GPR) sensors. Current approaches for localization with GPR sensors require a priori maps of the system's environment as well as access to approximate global…
Terrain classification is an important problem for mobile robots operating in extreme environments as it can aid downstream tasks such as autonomous navigation and planning. While RGB cameras are widely used for terrain identification,…
Ground Penetrating Radar (GPR) is a very useful non-destructive evaluation (NDE) device for locating and mapping underground assets prior to digging and trenching efforts in construction. This paper presents a novel robotic system to…
Localization of robots using subsurface features observed by ground-penetrating radar (GPR) enhances and adds robustness to common sensor modalities, as subsurface features are less affected by weather, seasons, and surface changes. We…
Ground-penetrating radar (GPR) is a mature geophysical method that has gained increasing popularity in planetary science over the past decade. GPR has been utilised both for Lunar and Martian missions providing pivotal information regarding…
When performing robot/vehicle localization using ground penetrating radar (GPR) to handle adverse weather and environmental conditions, existing techniques often struggle to accurately estimate distances when processing B-scan images with…
In this field report, we detail the lessons learned from our field expedition to collect Ground Penetrating Radar (GPR) data in a Mars analog environment for the purpose of validating GPR localization techniques in rugged environments.…
Ground penetrating radar (GPR) based localization has gained significant recognition in robotics due to its ability to detect stable subsurface features, offering advantages in environments where traditional sensors like cameras and LiDAR…
Ground Penetrating Radar (GPR) is one of the most important non-destructive evaluation (NDE) devices to detect subsurface objects (i.e., rebars, utility pipes) and reveal the underground scene. The two biggest challenges in GPR-based…
In this paper we consider the development of algorithms for the automatic detection of buried threats using ground penetrating radar (GPR) measurements. GPR is one of the most studied and successful modalities for automatic buried threat…
3D object reconstruction based on deep neural networks has gained increasing attention in recent years. However, 3D reconstruction of underground objects to generate point cloud maps remains a challenge. Ground Penetrating Radar (GPR) is…
In this work, we propose the use of Ground Penetrating Radar (GPR) for rover localization on Mars. Precise pose estimation is an important task for mobile robots exploring planetary surfaces, as they operate in GPS-denied environments.…
Ground Penetrating Radar (GPR) is one of the most important non-destructive evaluation (NDE) instruments to detect and locate underground objects (i.e., rebars, utility pipes). Many previous researches focus on GPR image-based feature…
Ground Penetrating Radar (GPR) has been widely used in pipeline detection and underground diagnosis. In practical applications, the characteristics of the GPR data of the detected area and the likely underground anomalous structures could…
Ground penetrating radar (GPR) is one of the most popular and successful sensing modalities that has been investigated for landmine and subsurface threat detection. Many of the detection algorithms applied to this task are supervised and…
Ground Penetrating Radar (GPR) has been widely used to estimate the healthy operation of some urban roads and underground facilities. When identifying subsurface anomalies by GPR in an area, the obtained data could be unbalanced, and the…
Ground Penetrating Radar (GPR) has been widely studied as a tool for extracting soil parameters relevant to agriculture and horticulture. When combined with Machine Learning (ML) methods, air-coupled Stepped Frequency Continuous Wave Ground…
Ground penetrating radar (GPR) has become a rapid and non-destructive solution for road subsurface distress (RSD) detection. However, recognizing RSD from GPR images is labor-intensive and heavily relies on the expertise of inspectors. Deep…
Accurate estimation of subsurface material properties, such as soil moisture, is critical for wildfire risk assessment and precision agriculture. Ground-penetrating radar (GPR) is a non-destructive geophysical technique widely used to…
We introduce M2DGR: a novel large-scale dataset collected by a ground robot with a full sensor-suite including six fish-eye and one sky-pointing RGB cameras, an infrared camera, an event camera, a Visual-Inertial Sensor (VI-sensor), an…