Related papers: Improving Self-Consistency in Underwater Mapping T…
Intelligent Transportation Systems (ITS) can benefit from roadside 4D mmWave radar sensors for large-scale traffic monitoring due to their weatherproof functionality, long sensing range and low manufacturing cost. However, the localization…
Centimeter level globally accurate and consistent maps for autonomous vehicles navigation has long been achieved by on board real-time kinematic(RTK)-GPS in open areas. However when dealing with urban environments, GPS will experience…
Underwater surveys provide long-term data for informing management strategies, monitoring coral reef health, and estimating blue carbon stocks. Advances in broad-scale survey methods, such as robotic underwater vehicles, have increased the…
Depth maps captured by modern depth cameras such as Kinect and Time-of-Flight (ToF) are usually contaminated by missing data, noises and suffer from being of low resolution. In this paper, we present a robust method for high-quality…
The work analyzes existing methods for increasing the accuracy of determining weekend navigation parameters of unmanned underwater vehicles. It is proposed to retrofit the navigation system with an additional hydrodynamic tilt unit, which…
Ocean ecosystems have spatiotemporal variability and dynamic complexity that require a long-term deployment of an autonomous underwater vehicle for data collection. A new long-range autonomous underwater vehicle called Tethys is adapted to…
High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…
High-definition (HD) maps are essential for autonomous driving, providing precise information such as road boundaries, lane dividers, and crosswalks to enable safe and accurate navigation. However, traditional HD map generation is…
This article focuses on feature-based underwater localization and navigation for autonomous underwater vehicles (AUVs) using 2D imaging sonar measurements. The sparsity of underwater acoustic features and the loss of elevation angle in…
In Global Navigation Satellite System (GNSS)-denied environments such as indoor parking structures or dense urban canyons, achieving accurate and robust vehicle positioning remains a significant challenge. This paper proposes a…
The Surface Water and Ocean Topography (SWOT) mission provides two-dimensional sea surface height (SSH) maps at unprecedented resolution, but its signal is a combination of balanced meso- and submesoscale turbulence, unbalanced internal…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
We present Multi-Layer Intensity Map, a novel 3D object representation for robot perception and autonomous navigation. Intensity maps consist of multiple stacked layers of 2D grid maps each derived from reflected point cloud intensities…
In the fast developing countries it is hard to trace new buildings construction or old structures destruction and, as a result, to keep the up-to-date cadastre maps. Moreover, due to the complexity of urban regions or inconsistency of data…
As various 3D light detection and ranging (LiDAR) sensors have been introduced to the market, research on multi-session simultaneous localization and mapping (MSS) using heterogeneous LiDAR sensors has been actively conducted. Existing MSS…
As autonomous vehicles become more prevalent, highly accurate and efficient systems are increasingly critical to improve safety, performance, and energy consumption. Efficient management of energy-reliability tradeoffs in these systems…
In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuously update and refine its feature map in order to adapt to the…
Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…
The concept of continuous-time trajectory representation has brought increased accuracy and efficiency to multi-modal sensor fusion in modern SLAM. However, regardless of these advantages, its offline property caused by the requirement of…
Underwater data infrastructures offer natural cooling and enhanced physical security compared to terrestrial facilities, but their storage systems remain susceptible to acoustic injection attacks, where sound-induced mechanical vibrations…