相关论文: Underwater Dense Mapping with the First Compact 3D…
In the field of deep-sea exploration, sonar is presently the only efficient long-distance sensing device. The complicated underwater environment, such as noise interference, low target intensity or background dynamics, has brought many…
Underwater data infrastructures offer natural cooling and enhanced physical security compared to terrestrial facilities, but their storage systems remain susceptible to acoustic injection attacks, where sound-induced mechanical vibrations…
Using a laser-based ranging method for precise environmental 3D sensing, LiDAR has numerous applications in science and industry. However, conventional LiDAR face challenges in simultaneously achieving high ranging precision and fast…
Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys little information for…
Existing underwater SLAM systems are difficult to work effectively in texture-sparse and geometrically degraded underwater environments, resulting in intermittent tracking and sparse mapping. Therefore, we present Water-DSLAM, a novel…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is frequently deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, using side-scan images to perform simultaneous localization and…
Since its inception, underwater digital acoustic communication has required custom hardware that neither has the economies of scale nor is pervasive. We present the first acoustic system that brings underwater messaging capabilities to…
Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately…
Underwater acoustic sensor networks (UASNs) are often used for environmental and industrial sensing in undersea/ocean space, therefore, these networks are also named underwater wireless sensor networks (UWSNs). Underwater sensor networks…
We propose a novel approach to handling the ambiguity in elevation angle associated with the observations of a forward looking multi-beam imaging sonar, and the challenges it poses for performing an accurate 3D reconstruction. We utilize a…
Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…
Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…
Depth perception is pivotal in many fields, such as robotics and autonomous driving, to name a few. Consequently, depth sensors such as LiDARs rapidly spread in many applications. The 3D point clouds generated by these sensors must often be…
Visual degradation in underwater environments poses unique and significant challenges, which distinguishes underwater SLAM from popular vision-based SLAM on the ground. In this paper, we propose RUSSO, a robust underwater SLAM system which…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
Miniaturization of cameras and LiDAR sensors has enabled the development of wearable 3D mapping systems for emergency responders. These systems have the potential to revolutionize response capabilities by providing real-time, high-fidelity…
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…
Shallow seawaters are problematic for acoustic and optical communications. Sensor networks based on electromagnetic (EM) communications are evaluated in this environment. In order to characterize the subaquatic channel, several measurement…
Accurate, self-consistent bathymetric maps are needed to monitor changes in subsea environments and infrastructure. These maps are increasingly collected by underwater vehicles, and mapping requires an accurate vehicle navigation solution.…
Depth sensing is a critical component of autonomous driving technologies, but today's LiDAR- or stereo camera-based solutions have limited range. We seek to increase the maximum range of self-driving vehicles' depth perception modules for…