Related papers: Underwater Dense Mapping with the First Compact 3D…
Ultrasonic sensors are widely used for object detection and localization in underwater and biological settings. The operational range and spatial resolution are inherently limited by sensor sensitivity, in which conventional piezoelectric…
This paper proposes a method that combines the style transfer technique and the learned descriptor to enhance the matching performances of underwater sonar images. In the field of underwater vision, sonar is currently the most effective…
This paper presents a novel dataset for the development of visual navigation and simultaneous localisation and mapping (SLAM) algorithms as well as for underwater intervention tasks. It differs from existing datasets as it contains ground…
Robust and accurate localization and mapping of an environment using laser scanners, so-called LiDAR SLAM, is essential to many robotic applications. Early 3D LiDAR SLAM methods often exploited additional information from IMU or GNSS…
Sonar imaging is fundamental to underwater exploration, with critical applications in defense, navigation, and marine research. Shadow regions, in particular, provide essential cues for object detection and classification, yet existing…
Gated cameras hold promise as an alternative to scanning LiDAR sensors with high-resolution 3D depth that is robust to back-scatter in fog, snow, and rain. Instead of sequentially scanning a scene and directly recording depth via the photon…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
Millimeter-wave (mmWave) cloud radio access networks (CRANs) provide new opportunities for accurate cooperative localization, in which large bandwidths, large antenna arrays, and increased densities of base stations allow for their…
Mapping the seafloor with underwater imaging cameras is of significant importance for various applications including marine engineering, geology, geomorphology, archaeology and biology. For shallow waters, among the underwater imaging…
In these last years, many studies have focalized on the design of reliable underwater acoustic communication systems. However, the ocean acoustic communication channel exhibits strong amplitude and phase fluctuations and the phenomena of…
This paper presents the design, implementation and evaluation of waveSLAM, a low-cost mobile robot system that uses the millimetre wave (mmWave) communication devices to enhance the indoor mapping process targeting environments with reduced…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
The rapid growth of the low-altitude economy (LAE) is making aerial systems an important part of future digital infrastructure. Although major advances have been achieved in unmanned aerial vehicle (UAV) platforms, communications, and…
Localization and mapping is the foundational technology for augmented reality (AR) that enables sharing and persistence of digital content in the real world. While significant progress has been made, researchers are still mostly driven by…
We present an imaging framework which converts three images from a gated camera into high-resolution depth maps with depth accuracy comparable to pulsed lidar measurements. Existing scanning lidar systems achieve low spatial resolution at…
Real-time 3D reconstruction enables fast dense mapping of the environment which benefits numerous applications, such as navigation or live evaluation of an emergency. In contrast to most real-time capable approaches, our approach does not…
Airborne 3D imaging using ultrasound is a promising sensing modality for robotic applications in harsh environments. Over the last decade, several high-performance systems have been proposed in the literature. Most of these sensors use a…
Extensive monitoring of acoustic activities is important for many fields, including biology, security, oceanography, and Earth science. Distributed acoustic sensing (DAS) is an evolving technique for continuous, wide-coverage measurements…
An accurate depth map of the environment is critical to the safe operation of autonomous robots and vehicles. Currently, either light detection and ranging (LIDAR) or stereo matching algorithms are used to acquire such depth information.…
By enabling capturing of 3D point clouds that reflect the geometry of the immediate environment, LiDAR has emerged as a primary sensor for autonomous systems. If a LiDAR scan is too sparse, occluded by obstacles, or too small in range,…