相关论文: Underwater Dense Mapping with the First Compact 3D…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
Fast, efficient, and accurate depth-sensing is important for safety-critical applications such as autonomous vehicles. Direct time-of-flight LiDAR has the potential to fulfill these demands, thanks to its ability to provide high-precision…
Navigation in varied and dynamic indoor environments remains a complex task for autonomous mobile platforms. Especially when conditions worsen, typical sensor modalities may fail to operate optimally and subsequently provide inapt input for…
Increasing levels of anthropogenic noise from ships contribute significantly to underwater sound pollution, posing risks to marine ecosystems. This makes monitoring crucial to understand and quantify the impact of the ship radiated noise.…
Three-dimensional imaging plays an important role in imaging applications where it is necessary to record depth. The number of applications that use depth imaging is increasing rapidly, and examples include self-driving autonomous vehicles…
Efficient sound transmission across the water-air interface has always been expected in the field of ocean exploration. However, the existing researches are mainly concentrated on the narrow-band transmission based on resonance, which…
Simultaneous localization and mapping (SLAM) provides user tracking and environmental mapping capabilities, enabling communication systems to gain situational awareness. Advanced communication networks with ultra-wideband, multiple…
We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory and…
A primary challenge in developing synthetic spatial hearing systems, particularly underwater, is accurately modeling sound scattering. Biological organisms achieve 3D spatial hearing by exploiting sound scattering off their bodies to…
With the development of coastal construction, a large amount of human-generated waste, particularly plastic debris, is continuously entering the ocean, posing a severe threat to marine ecosystems. The key to effectively addressing plastic…
Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a…
Multi-map Sparse Monocular visual Simultaneous Localization and Mapping applied to monocular endoscopic sequences has proven efficient to robustly recover tracking after the frequent losses in endoscopy due to motion blur, temporal…
Off-road autonomous navigation demands reliable 3D perception for robust obstacle detection in challenging unstructured terrain. While LiDAR is accurate, it is costly and power-intensive. Monocular depth estimation using foundation models…
Low-bandwidth communication, such as underwater acoustic communication, is limited by best-case data rates of 30--50 kbit/s. This renders such channels unusable or inefficient at best for single image, video, or other bandwidth-demanding…
Autonomous navigation of robots in harsh and GPS denied subterranean (SubT) environments with lack of natural or poor illumination is a challenging task that fosters the development of algorithms for pose estimation and mapping. Inspired by…
Submarine cables play a critical role in global internet connectivity, energy transmission, and communication but remain vulnerable to accidental damage and sabotage. Recent incidents in the Baltic Sea highlighted the need for enhanced…
Neural implicit representations are drawing a lot of attention from the robotics community recently, as they are expressive, continuous and compact. However, city-scale continual implicit dense mapping based on sparse LiDAR input is still…
The search for refining 3D LiDAR data has attracted growing interest motivated by recent techniques such as supervised learning or generative model-based methods. Existing approaches have shown the possibilities for using diffusion models…
Performing simultaneous localization and mapping (SLAM) in low-visibility conditions, such as environments filled with smoke, dust and transparent objets, has long been a challenging task. Sensors like cameras and Light Detection and…
Surface acoustic wave (SAW) based sensors for applications to gaseous environments have been widely investigated since the last 1970s. More recently, the SAW-based sensors focus has shifted towards liquid-phase sensing applications: the SAW…