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We propose a novel data-driven approach for high-resolution bathymetric reconstruction from sidescan. Sidescan sonar (SSS) intensities as a function of range do contain some information about the slope of the seabed. However, that…
Underwater perception and 3D surface reconstruction are challenging problems with broad applications in construction, security, marine archaeology, and environmental monitoring. Treacherous operating conditions, fragile surroundings, and…
We present a method to incrementally generate complete 2D or 3D scenes with the following properties: (a) it is globally consistent at each step according to a learned scene prior, (b) real observations of a scene can be incorporated while…
A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-precision lidar odometry system to achieve robust and real-time…
Motion planning for underwater vehicles must consider the effect of ocean currents. We present an efficient method to compute reachability and cost between sample points in sampling-based motion planning that supports long-range planning…
Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…
We present a novel method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future information of dynamic scenes. Our automated generation process creates groundtruth SOGMs from previous navigation…
Active Simultaneous Localization and Mapping (SLAM) is the problem of planning and controlling the motion of a robot to build the most accurate and complete model of the surrounding environment. Since the first foundational work in active…
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain…
3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…
Autonomous navigation is one of the key requirements for every potential application of mobile robots in the real-world. Besides high-accuracy state estimation, a suitable and globally consistent representation of the 3D environment is…
Safe and efficient path planning is crucial for autonomous mobile robots. A prerequisite for path planning is to have a comprehensive understanding of the 3D structure of the robot's environment. On MAVs this is commonly achieved using…
2D forward-looking sonar is a crucial sensor for underwater robotic perception. A well-known problem in this field is estimating missing information in the elevation direction during sonar imaging. There are demands to estimate 3D…
Communication, Navigation and Surveillance (CNS) technologies are key enablers for future safe operation of drones in urban environments. However, the design of navigation technologies for these new applications is more challenging compared…
Perceiving and understanding highly dynamic and changing environments is a crucial capability for robot autonomy. While large strides have been made towards developing dynamic SLAM approaches that estimate the robot pose accurately, a…
Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…
Autonomous Underwater Vehicles (AUVs) encounter significant energy, control and navigation challenges in complex underwater environments, particularly during close-proximity operations, such as launch and recovery (LAR), where fluid…
This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…
Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…
Underwater marine inspections for ship hull or marine debris, etc. are one of the vital measures carried out to ensure the safety of marine structures and underwater species. This work details the design, development and qualification of a…