相关论文: A Landmark-Aided Navigation Approach Using Side-Sc…

Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…

Obstacle detection plays an important role in unmanned surface vehicles (USV). The USVs operate in highly diverse environments in which an obstacle may be a floating piece of wood, a scuba diver, a pier, or a part of a shoreline, which…

Critical maritime infrastructure increasingly demands situational awareness both above and below the surface, yet existing ''seabed-to-sky'' mapping pipelines either rely on GNSS (vulnerable to shadowing/spoofing) or expensive bathymetric…

Ground penetrating radar mounted on micro aerial vehicle (MAV) is a promising tool to assist humanitarian landmine clearance. However, the quality of synthetic aperture radar images depends on accurate and precise motion estimation of the…

In this paper, we present an autonomous unmanned aerial vehicle (UAV) landing system based on visual navigation. We design the landmark as a topological pattern in order to enable the UAV to distinguish the landmark from the environment…

Autonomous underwater vehicles (AUVs) are essential for various applications, including oceanographic surveys, underwater mapping, and infrastructure inspections. Accurate and robust navigation are critical to completing these tasks. To…

Synthetic Aperture Sonar (SAS) imaging has become a crucial technology for underwater exploration because of its unique ability to maintain resolution at increasing ranges, a characteristic absent in conventional sonar techniques. However,…

Knowing the position of the robot in the world is crucial for navigation. Nowadays, Bayesian filters, such as Kalman and particle-based, are standard approaches in mobile robotics. Recently, end-to-end learning has allowed for scaling-up to…

Autonomous Underwater Vehicles (AUVs) conduct missions underwater without the need for human intervention. A docking station (DS) can extend mission times of an AUV by providing a location for the AUV to recharge its batteries and receive…

Huge imbalance of different scenes' sample numbers seriously reduces Synthetic Aperture Radar (SAR) ship detection accuracy. Thus, to solve this problem, this letter proposes a Balance Scene Learning Mechanism (BSLM) for offshore and…

Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…

This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the underwater domain. Our previous work, SVIn, augmented the…

Combining synthetic aperture sonar (SAS) imagery with optical images for underwater object classification has the potential to overcome challenges such as water clarity, the stability of the optical image analysis platform, and strong…

This paper presents an evaluation of a number of probabilistic algorithms for localization of autonomous underwater vehicles (AUVs) using bathymetry data. The algorithms, based on the principles of the Bayes filter, work by fusing…

The advancement of multi-channel synthetic aperture radar (SAR) system is considered as an upgraded technology for surveillance activities. SAR sensors onboard provide data for coastal ocean surveillance and a view of the oceanic surface…

Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily rely on the quality of training data and often exhibit poor…

Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…

Accurate post-processing navigation is essential for applications such as survey and mapping, where the full measurement history can be exploited to refine past state estimates. Fixed-interval smoothing algorithms represent the…

Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…

This paper considers a bearings-only tracking problem using noisy measurements of unknown noise statistics from a passive sensor. It is assumed that the process and measurement noise follows the Gaussian distribution where the measurement…