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The accurate estimation of locations and emission rates of gas sources is crucial across various domains, including environmental monitoring and greenhouse gas emission analysis. This study investigates two drone sampling strategies for…
Many optical measurement techniques, such as light scattering from wavelength-scale particles or detecting motion from a surface with an optical lever, encode information in a complex radiation pattern. Extracting all available information…
This paper proposes a novel method for geo-tracking, i.e. continuous metric self-localization in outdoor environments by registering a vehicle's sensor information with aerial imagery of an unseen target region. Geo-tracking methods offer…
Continuous monitoring of oil and gas infrastructure is of interest for improving emissions and safety by enabling rapid identification and repair of emission sources, especially large sources that are responsible for the bulk of total…
A renaissance in radar-based sensing for mobile robotic applications is underway. Compared to cameras or lidars, millimetre-wave radars have the ability to `see' through thin walls, vegetation, and adversarial weather conditions such as…
The use of drones in a wide range of applications is steadily increasing. However, this has also raised critical security concerns such as unauthorized drone intrusions into restricted zones. Therefore, robust and accurate drone detection…
We investigate methods for determining if a planar surface contains geometric deviations (e.g., protrusions, objects, divots, or cliffs) using only an instantaneous measurement from a miniature optical time-of-flight sensor. The key to our…
This paper proposes a multi-sensor based approach to detect, track, and localize a quadcopter unmanned aerial vehicle (UAV). Specifically, a pipeline is developed to process monocular RGB and thermal video (captured from a fixed platform)…
Satellite-based greenhouse gases (GHG) sensing technologies play a critical role in the study of global carbon emissions and climate change. However, none of the existing satellite-based GHG sensing technologies can achieve the measurement…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…
Autonomous aerial robots provide new possibilities to study the habitats and behaviors of endangered species through the efficient gathering of location information at temporal and spatial granularities not possible with traditional manual…
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…
Robust and realistic rendering for large-scale road scenes is essential in autonomous driving simulation. Recently, 3D Gaussian Splatting (3D-GS) has made groundbreaking progress in neural rendering, but the general fidelity of large-scale…
Laser remote sensing represents a powerful tool that enables the accurate measurement of the speed of moving targets. Crucially, most sensing techniques are 2-Dimensional and only enable direct determination of the speed along the line of…
Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…
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…
Passive, compact, single-shot 3D sensing is useful in many application areas such as microscopy, medical imaging, surgical navigation, and autonomous driving where form factor, time, and power constraints can exist. Obtaining RGB-D scene…
This paper investigates three spectroscopic techniques - Tunable Diode Laser Absorption Spectroscopy (TDLAS), Wavelength Modulation Spectroscopy (WMS), and Heterodyne Phase Sensitive Dispersion Spectroscopy (HPSDS) - to evaluate their…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
Visual Place Recognition and Visual Localization are essential components in navigation and mapping for autonomous vehicles especially in GNSS-denied navigation scenarios. Recent work has focused on ground or close to ground applications…