相关论文: 3D Water Quality Mapping using Invariant Extended …
The ROS 2 Navigation Stack (Nav2) has emerged as a widely used software component providing the underlying basis to develop a variety of high-level functionalities. However, when used in outdoor environments such as orchards and vineyards,…
Real-time water quality (WQ) sensors in water distribution networks (WDN) have the potential to enable network-wide observability of water quality indicators, contamination event detection, and closed-loop feedback control of WQ dynamics.…
Despite substantial technological advancements, the comprehensive mapping of surface water, particularly smaller bodies (<1ha), continues to be a challenge due to a lack of robust, scalable methods. Standard methods require either training…
This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an…
Robust relocalization in dynamic outdoor environments remains a key challenge for autonomous systems relying on 3D lidar. While long-term localization has been widely studied, short-term environmental changes, occurring over days or weeks,…
Accurate estimation and prediction of trajectory is essential for the capture of any high speed target. In this paper, an extended Kalman filter (EKF) is used to track the target in the first loop of the trajectory to collect data points…
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…
The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can…
Flooding remains a major global challenge, worsened by climate change and urbanization, demanding advanced solutions for effective disaster management. While traditional 2D flood mapping techniques provide limited insights, 3D flood…
Water level monitoring is critical for flood management, water resource allocation, and ecological assessment, yet traditional methods remain costly and limited in coverage. This work explores radar-based sensing as a low-cost alternative…
Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open…
Water quality parameters are derived applying several machine learning regression methods on the Case2eXtreme dataset (C2X). The used data are based on Hydrolight in-water radiative transfer simulations at Sentinel-3 OLCI wavebands, and the…
Quantifying fish community structure is essential for understanding biodiversity and ecosystem responses in a changing environment, yet existing survey methods provide limited high-frequency, quantitative observations. Conventional…
The use of Autonomous Surface Vehicles, equipped with water quality sensors and artificial vision systems, allows for a smart and adaptive deployment in water resources environmental monitoring. This paper presents a real implementation of…
Accurate and cost effective mapping of water bodies has an enormous significance for environmental understanding and navigation. However, the quantity and quality of information we acquire from such environmental features is limited by…
Oysters are an essential species in the Chesapeake Bay living ecosystem. Oysters are filter feeders and considered the vacuum cleaners of the Chesapeake Bay that can considerably improve the Bay's water quality. Many oyster restoration…
We consider two nonlinear state estimation problems in a setting where an extended Kalman filter receives measurements from two sets of sensors via two channels (2C). In the stochastic-2C problem, the channels drop measurements…
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…
Acquiring the accurate 3-D position of a target person around a robot provides fundamental and valuable information that is applicable to a wide range of robotic tasks, including home service, navigation and entertainment. This paper…
Coral reefs are among the most diverse ecosystems on our planet, and are depended on by hundreds of millions of people. Unfortunately, most coral reefs are existentially threatened by global climate change and local anthropogenic pressures.…