相关论文: 3D Water Quality Mapping using Invariant Extended …
This work aims to present a three-dimensional vehicle dynamics state estimation under varying signal quality. Few researchers have investigated the impact of three-dimensional road geometries on the state estimation and, thus, neglect road…
A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that guarantees the computation of a globally optimal solution for…
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…
This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a learning-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Autonomous mobile robot competitions judge based on a robot's ability to quickly and accurately navigate the game field. This means accurate localization is crucial for creating an autonomous competition robot. Two common localization…
Kalman filter-based algorithms are fundamental for mobile robots, as they provide a computationally efficient solution to the challenging problem of state estimation. However, they rely on two main assumptions that are difficult to satisfy…
Traditional soil sampling and analysis methods are labor-intensive, time-consuming, and limited in spatial resolution, making them unsuitable for large-scale precision agriculture. To address these limitations, we present a robotic solution…
In the field of gas pipeline location, existing pipeline location methods mostly rely on pipeline location instruments. However, when faced with complex and curved pipeline scenarios, these methods often fail due to problems such as cable…
From agriculture to mining, to energy, surface water quality monitoring is an essential task. As oil and gas operators work to reduce the consumption of freshwater, it is increasingly important to actively manage fresh and non-fresh water…
With climate change and increasing human pressure on natural landscapes, inland water resources are becoming progressively scarcer, more vulnerable, and more difficult to manage sustainably. Reliable and automated methods for detecting,…
Robotic underwater systems, e.g., Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs), are promising tools for collecting biogeochemical data at the ice-water interface for scientific advancements. However, state…
Ensuring safe water supplies requires effective water quality monitoring, especially in developing countries like Nepal, where contamination risks are high. This paper introduces various hybrid deep learning models to predict on the CCME…
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…
In this paper, an in-depth analysis of Escherichia coli seawater measurements during the bathing season in the city of Rijeka, Croatia was conducted. Submerged sources of groundwater were observed at several measurement locations which…
Soil moisture is a quantity of interest in many application areas including agriculture and climate modeling. Existing methods are not suitable for scale applications due to large deployment costs in high-resolution sensing applications…
Clean energy from oceans and rivers is becoming a reality with the development of new technologies like tidal and instream turbines that generate electricity from naturally flowing water. These new technologies are being monitored for…
Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base…
Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This…
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…