相关论文: Fast Ray-Tracing-Based Precise Underwater Acoustic…
The escalating interests on underwater exploration/reconnaissance applications have motivated high-rate data transmission from underwater to airborne relaying platforms, especially under high-sea scenarios. Thanks to its broad bandwidth and…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
The study of chaotic mixing is important for its potential to improve our understanding of fluid systems. Contour advection simulations provide a good model of the phenomenon by tracking the evolution of one or more contours or isolines of…
How to self-localize large teams of underwater nodes using only noisy range measurements? How to do it in a distributed way, and incorporating dynamics into the problem? How to reject outliers and produce trustworthy position estimates? The…
Geopositioning and tracking a moving boat at sea is a very challenging problem, requiring boat detection, matching and estimating its GPS location from imagery with no common features. The problem can be stated as follows: given imagery…
We present in this paper a numerical method which computes the optimal trajectory of a underwater vehicle subject to some mission objectives. The method is applied to a submarine whose goal is to best detect one or several targets, or/and…
Detecting objects such as cars and pedestrians in 3D plays an indispensable role in autonomous driving. Existing approaches largely rely on expensive LiDAR sensors for accurate depth information. While recently pseudo-LiDAR has been…
Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…
Compared to the onboard camera and laser scanner, radar sensor provides lighting and weather invariant sensing, which is naturally suitable for long-term localization under adverse conditions. However, radar data is sparse and noisy,…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
The ocean's opacity poses challenges for security, as new technology, e.g. underwater drones, offers new opportunities for illegal activities, such as smuggling and terrorism. A network of unmanned surface vehicles (USV) and autonomous…
We propose a method to efficiently compute tomographic projections of a 3D volume represented by a linear combination of shifted B-splines. To do so, we propose a ray-tracing algorithm that computes 3D line integrals with arbitrary…
Aided inertial navigation system (INS), typically consisting of an inertial measurement unit (IMU) and an exteroceptive sensor, has been widely accepted as a feasible solution for navigation. Compared with vision-aided and LiDAR-aided INS,…
This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part…
Precise relative navigation is a critical enabler for distributed satellites to achieve new mission objectives impossible for a monolithic spacecraft. Carrier phase differential GPS (CDGPS) with integer ambiguity resolution (IAR) is a…
Reconstructing high-fidelity underwater scenes remains a challenging task due to light absorption, scattering, and limited visibility inherent in aquatic environments. This paper presents an enhanced Gaussian Splatting-based framework that…
Motion during image acquisition can cause image degradation in all medical imaging modalities. This is particularly relevant in 2-D ultrasound imaging, since out-of-plane motion can only be compensated for movements smaller than elevational…
The determination of accurate bathymetric information is a key element for near offshore activities, hydrological studies such as coastal engineering applications, sedimentary processes, hydrographic surveying as well as archaeological…
This paper presents a new dataset and general tracker enhancement method for Underwater Visual Object Tracking (UVOT). Despite its significance, underwater tracking has remained unexplored due to data inaccessibility. It poses distinct…
Recently, Differentiable Ray Tracing has been successfully applied in the field of wireless communications for learning radio materials or optimizing the transmitter orientation. However, in the frame of gradient based optimization,…