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The stability of mine dumps is contingent upon the precise arrangement of spoil piles, taking into account their geological and geotechnical attributes. Yet, on-site characterisation of individual piles poses a formidable challenge. The…
Visual Simultaneous Localization and Mapping (V-SLAM) methods achieve remarkable performance in static environments, but face challenges in dynamic scenes where moving objects severely affect their core modules. To avoid this, dynamic…
Small object detection is a broadly investigated research task and is commonly conceptualized as a "pipeline-style" engineering process. In the upstream, images serve as raw materials for processing in the detection pipeline, where…
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…
In robot-assisted laparoscopic radical prostatectomy (RALP), the location of the instrument tip is important to register the ultrasound frame with the laparoscopic camera frame. A long-standing limitation is that the instrument tip position…
Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this…
Generating 3D point cloud (PC) data from noisy sonar measurements is a problem that has potential applications for bathymetry mapping, artificial object inspection, mapping of aquatic plants and fauna as well as underwater navigation 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…
Spatial join is a fundamental operation in spatial databases. With the rapid growth of 3D data in applications such as LiDAR-based object detection and 3D digital pathology, there is an increasing need to support spatial join over 3D…
In-pipe robots are promising solutions for condition assessment, leak detection, water quality monitoring in a variety of other tasks in pipeline networks. Smart navigation is an extremely challenging task for these robots as a result of…
Many modern robotics systems employ LiDAR as their main sensing modality due to its geometrical richness. Rolling shutter LiDARs are particularly common, in which an array of lasers scans the scene from a rotating base. Points are emitted…
A new era of space exploration and exploitation is fast approaching. A multitude of spacecraft will flow in the future decades under the propulsive momentum of the new space economy. Yet, the flourishing proliferation of deep-space assets…
Effective monitoring of underwater ecosystems is crucial for tracking environmental changes, guiding conservation efforts, and ensuring long-term ecosystem health. However, automating underwater ecosystem management with robotic platforms…
When employing underwater vehicles for the autonomous inspection of assets, it is crucial to consider and assess the water conditions. These conditions significantly impact visibility and directly affect robotic operations. Turbidity can…
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and submerged sensing modalities. This paper introduces the Aerial…
RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…
Visual inertial odometry and SLAM algorithms are widely used in various fields, such as service robots, drones, and autonomous vehicles. Most of the SLAM algorithms are based on assumption that landmarks are static. However, in the…
Computer vision (CV) pipelines are typically evaluated on datasets processed by image signal processing (ISP) pipelines even though, for resource-constrained applications, an important research goal is to avoid as many ISP steps as…
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and…
Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…