Related papers: Toward Terrain-based Navigation Using Side-scan So…
Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…
Scan matching is a widely used technique in state estimation. Point-cloud alignment, one of the most popular methods for scan matching, is a weighted least-squares problem in which the weights are determined from the inverse covariance of…
Human beings cooperatively navigate rule-constrained environments by adhering to mutually known navigational patterns, which may be represented as directional pathways or road lanes. Inferring these navigational patterns from incompletely…
Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude…
Filtering and smoothing algorithms for linear discrete-time state-space models with skewed and heavy-tailed measurement noise are presented. The algorithms use a variational Bayes approximation of the posterior distribution of models that…
This paper presents a new algorithm for autonomous multitarget tracking of resident space objects using optical angles-only measurements from a spaceborne observer. To enable autonomous angles-only navigation of spacecraft swarms, an…
Deep learning has not been routinely employed for semantic segmentation of seabed environment for synthetic aperture sonar (SAS) imagery due to the implicit need of abundant training data such methods necessitate. Abundant training data,…
Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily rely on the quality of training data and often exhibit poor…
Autonomous Underwater Vehicles (AUVs) are increasingly being used to support scientific research and monitoring studies. One such application is in benthic habitat mapping where these vehicles collect seafloor imagery that complements…
Huge imbalance of different scenes' sample numbers seriously reduces Synthetic Aperture Radar (SAR) ship detection accuracy. Thus, to solve this problem, this letter proposes a Balance Scene Learning Mechanism (BSLM) for offshore and…
Sea surface temperature (SST) is an essential climate variable that can be measured via ground truth, remote sensing, or hybrid model methodologies. Here, we celebrate SST surveillance progress via the application of a few relevant…
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…
The navigation systems of autonomous aircraft rely on the readings provided by a suite of onboard sensors to estimate the aircraft state. In the case of fixed wing vehicles, the sensor suite is composed by triads of accelerometers,…
The unscented Kalman filter is a nonlinear estimation algorithm commonly used in navigation applications. The prediction of the mean and covariance matrix is crucial to the stable behavior of the filter. This prediction is done by…
Landslide detection from satellite imagery has advanced through deep learning, yet most models rely on large, highly correlated spectral-topographic inputs whose contributions remain poorly understood. The question of which channels are…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
Passive bearing-only tracking (BOT) estimates the target states by utilising noisy bearing measurements captured by a sensor array. The sensor array is often towed behind the ship, using a long flexible cable to reduce interference from the…
In this work, a terrain estimation framework is developed for autonomous vehicles operating on deformable terrains. Previous work in this area usually relies on steady state tire operation, linearized classical terramechanics models, or on…
Publicly available satellite imagery can be an ubiquitous, cheap, and powerful tool for vehicle localisation when a prior sensor map is unavailable. However, satellite images are not directly comparable to data from ground range sensors…
Collaborative signal processing and sensor deployment have been among the most important research tasks in target tracking using networked sensors. In this paper, the mathematical model is formulated for single target tracking using mobile…