相关论文: Improving Self-Consistency in Underwater Mapping T…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

Underwater object-level mapping requires incorporating visual foundation models to handle the uncommon and often previously unseen object classes encountered in marine scenarios. In this work, a metric of semantic uncertainty for open-set…

This paper studies 3D LiDAR mapping with a focus on developing an updatable and localizable map representation that enables continuity, compactness and consistency in 3D maps. Traditional LiDAR Simultaneous Localization and Mapping (SLAM)…

The autonomous mapping of large-scale urban scenes presents significant challenges for autonomous robots. To mitigate the challenges, global planning, such as utilizing prior GPS trajectories from OpenStreetMap (OSM), is often used to guide…

Vision-based underwater robots can be useful in inspecting and exploring confined spaces where traditional sensors and preplanned paths cannot be followed. Sensor noise and situational change can cause significant uncertainty in…

Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…

The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

Accurate seabed mapping is essential for habitat monitoring and infrastructure inspection. In turbid, shallow coastal waters, such as shellfish aquaculture farms, the effectiveness of traditional optical methods is limited. Autonomous…

Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…

The combination of data from multiple sensors, also known as sensor fusion or data fusion, is a key aspect in the design of autonomous robots. In particular, algorithms able to accommodate sensor fusion techniques enable increased accuracy,…

Precise and long-term stable localization is essential in parking lots for tasks like autonomous driving or autonomous valet parking, \textit{etc}. Existing methods rely on a fixed and memory-inefficient map, which lacks robust data…

Localization is an important required task for enabling vehicle autonomy for underwater vehicles. Localization entails the determination of position of the center of mass and orientation of a vehicle from the available measurements. In this…

Simultaneous Localization and Mapping (SLAM) techniques play a key role towards long-term autonomy of mobile robots due to the ability to correct localization errors and produce consistent maps of an environment over time. Contrarily to…

We present the results of experiments performed using a small autonomous underwater vehicle to determine the location of an isobath within a bounded area. The primary contribution of this work is to implement and integrate several recent…

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 robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…

Deep-sea robot operations demand a high level of safety, efficiency and reliability. As a consequence, measures within the development stage have to be implemented to extensively evaluate and benchmark system components ranging from data…

Modern autonomous vehicles and robots utilize versatile sensors for localization and mapping. The fidelity of these maps is paramount, as an accurate environmental representation is a prerequisite for stable and precise localization. Factor…

We introduce local matching stability and furthest matchable frame as quantitative measures for evaluating the success of underwater image enhancement. This enhancement process addresses visual degradation caused by light absorption,…