Related papers: Toward Terrain-based Navigation Using Side-scan So…

Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality hampers long-term high-accuracy state estimation. To this…

This paper introduces an infinite-dimensional Bayesian framework for acoustic seabed tomography, leveraging wave scattering to simultaneously estimate the seabed and its roughness. Tomography is considered an ill-posed problem where…

We improve upon two key aspects of the Menter shear stress transport (SST) turbulence model: (1) We propose a more robust adverse pressure gradient sensor based on the strength of the pressure gradient in the direction of the local mean…

This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…

Natural environments pose significant challenges for autonomous robot navigation, particularly due to their unstructured and ever-changing nature. Hiking trails, with their dynamic conditions influenced by weather, vegetation, and human…

Stationary subspace analysis (SSA) is a blind source separation framework that decomposes linearly mixed multivariate data into stationary and nonstationary components. We extend SSA to spatially indexed data by introducing spatial…

Unmanned surface vessels USVs are typically autonomous or remotely operated and are specifically designed for environmental monitoring in various aquatic environments Aquaculture requires constant monitoring and management of water quality…

This paper presents a novel end-to-end Unmanned Aerial System (UAS) navigation approach for long-range visual navigation in the real world. Inspired by dual-process visual navigation system of human's instinct: environment understanding and…

Real-time efficient perception is critical for autonomous navigation and city scale sensing. Orthogonal to architectural improvements, streaming perception approaches have exploited adaptive sampling improving real-time detection…

Implementing fully automatic unmanned surface vehicles (USVs) monitoring water quality is challenging since effectively collecting environmental data while keeping the platform stable and environmental-friendly is hard to approach. To…

Object detection in sonar images is a key technology in underwater detection systems. Compared to natural images, sonar images contain fewer texture details and are more susceptible to noise, making it difficult for non-experts to…

In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the…

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…

Observations of seabed texture with synthetic aperture sonar are dependent upon several factors. In this work, we focus on collection geometry with respect to isotropic and anisotropic textures. The low grazing angle of the collection…

Unmanned surface vehicles (USVs) and boats are increasingly important in maritime operations, yet their deployment is limited due to costly sensors and complexity. LiDAR, radar, and depth cameras are either costly, yield sparse point clouds…

The purpose of navigation is to determine the position, velocity, and orientation of manned and autonomous platforms, humans, and animals. Obtaining accurate navigation commonly requires fusion between several sensors, such as inertial…

Reliable detection and tracking in active sonar require accurate and efficient learning of the acoustic multipath background environment. Conventionally, background learning is performed after transforming measurements into the…

Depth estimation is a cornerstone for autonomous driving, yet acquiring per-pixel depth ground truth for supervised learning is challenging. Self-Supervised Surround Depth Estimation (SSSDE) from consecutive images offers an economical…

This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…

This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike traditional sonar, which produces 2D images…