Related papers: Toward Terrain-based Navigation Using Side-scan So…
We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…
Accurate estimation of the sound speed profile (SSP) is essential for underwater acoustic communication, sonar performance, and navigation, as the acoustic wave propagation depends strongly on the SSP. This work considers SSP estimation in…
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…
The performance of Automated Recognition (ATR) algorithms on side-scan sonar imagery has shown to degrade rapidly when deployed on non benign environments. Complex seafloors and acoustic artefacts constitute distractors in the form of…
Recognizing traversable terrain from 3D point cloud data is critical, as it directly impacts the performance of autonomous navigation in off-road environments. However, existing segmentation algorithms often struggle with challenges related…
Accurate and cost effective mapping of water bodies has an enormous significance for environmental understanding and navigation. However, the quantity and quality of information we acquire from such environmental features is limited by…
High-definition map with accurate lane-level information is crucial for autonomous driving, but the creation of these maps is a resource-intensive process. To this end, we present a cost-effective solution to create lane-level roadmaps…
Robust matching of side-scan sonar imagery remains a fundamental challenge in seafloor mapping due to view-dependent backscatter, shadows, and geometric distortion. This paper proposes a novel matching framework that combines physical…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
This research addresses the challenge of estimating bathymetry from imaging sonars where the state-of-the-art works have primarily relied on either supervised learning with ground-truth labels or surface rendering based on the Lambertian…
We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback…
Accurate seabed mapping is essential for habitat monitoring and infrastructure inspection. In turbid, shallow coastal waters, such as shellfish aquaculture farms, the effectiveness of traditional optical methods is limited. Autonomous…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
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…
Robust estimation of vehicle sideslip angle is essential for stability control applications. However, the direct measurement of sideslip angle is expensive for production vehicles. This paper presents a novel sideslip estimation algorithm…
Acoustic sonar imaging systems are widely used for underwater surveillance in both civilian and military sectors. However, acquiring high-quality sonar datasets for training Artificial Intelligence (AI) models confronts challenges such as…
A cost effective approach to remote monitoring of protected areas such as marine reserves and restricted naval waters is to use passive sonar to detect, classify, localize, and track marine vessel activity (including small boats and…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
Critical maritime infrastructure increasingly demands situational awareness both above and below the surface, yet existing ''seabed-to-sky'' mapping pipelines either rely on GNSS (vulnerable to shadowing/spoofing) or expensive bathymetric…
Terrain awareness is an essential milestone to enable truly autonomous off-road navigation. Accurately predicting terrain characteristics allows optimizing a vehicle's path against potential hazards. Recent methods use deep neural networks…