Related papers: In-Air Imaging Sonar Sensor Network with Real-Time…
Navigation in varied and dynamic indoor environments remains a complex task for autonomous mobile platforms. Especially when conditions worsen, typical sensor modalities may fail to operate optimally and subsequently provide inapt input for…
The focus of this research is sensor applications including radar and sonar. Optimal sensing means achieving the best signal quality with the least time and energy cost, which allows processing more data. This paper presents novel work by…
Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…
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…
Navigating spatially varied and dynamic environments is one of the key tasks for autonomous agents. In this paper we present a novel method of navigating a mobile platform with one or multiple 3D-sonar sensors. Moving a mobile platform and…
We describe an open-source simulator that creates sensor irradiance and sensor images of typical automotive scenes in urban settings. The purpose of the system is to support camera design and testing for automotive applications. The user…
Object detection in sonar images is crucial for underwater robotics applications including autonomous navigation and resource exploration. However, complex noise patterns inherent in sonar imagery, particularly speckle, reverberation, and…
Autonomous underwater vehicles often perform surveys that capture multiple views of targets in order to provide more information for human operators or automatic target recognition algorithms. In this work, we address the problem of…
Autonomous navigation in underwater environments presents challenges due to factors such as light absorption and water turbidity, limiting the effectiveness of optical sensors. Sonar systems are commonly used for perception in underwater…
6G system is evolving toward full-spectrum coverage,ultra-wide bandwidth, and high mobility, resulting in increasingly complex propagation environments. The deep integration of communication and sensing is widely recognized as a core 6G…
The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges related to the fusion of multi-modal sensor data, the…
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…
Underwater robots typically rely on acoustic sensors like sonar to perceive their surroundings. However, these sensors are often inundated with multiple sources and types of noise, which makes using raw data for any meaningful inference…
The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…
Designing and validating sensor applications and algorithms in simulation is an important step in the modern development process. Furthermore, modern open-source multi-sensor simulation frameworks are moving towards the usage of video-game…
Public space utilization is crucial for urban developers to understand how efficient a place is being occupied in order to improve existing or future infrastructures. In a smart cities approach, implementing public space monitoring with…
Rapid generation of large-scale orthoimages from Unmanned Aerial Vehicles (UAVs) has been a long-standing focus of research in the field of aerial mapping. A multi-sensor UAV system, integrating the Global Positioning System (GPS), Inertial…
This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…
Among underwater perceptual sensors, imaging sonar has been highlighted for its perceptual robustness underwater. The major challenge of imaging sonar, however, arises from the difficulty in defining visual features despite limited…
In this paper, we investigate the capabilities of in-air 3D SONAR sensors for the monitoring of road surface conditions. Concretely, we consider two applications: Road material classification and Road damage detection and classification.…