相关论文: SHRUMS: Sensor Hallucination for Real-time Underwa…
Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…
In complex environments, autonomous robot navigation and environmental perception pose higher requirements for SLAM technology. This paper presents a novel method for semantically enhancing 3D point cloud maps with thermal information. By…
High resolution underwater 3D scene reconstruction is crucial for various applications, including construction, infrastructure maintenance, monitoring, exploration, and scientific investigation. Prior work has leveraged the complementary…
Enhancing forward-looking sonar images is critical for accurate underwater target detection. Current deep learning methods mainly rely on supervised training with simulated data, but the difficulty in obtaining high-quality real-world…
In an era where Position, Navigation, and Timing (PNT) systems are integral to our technological infrastructure, the increasing prevalence of severe space weather events and the advent of deliberate disruptions such as GPS jamming and…
Both higher efficiency and cost reduction can be gained from automating bathymetric surveying for offshore applications such as pipeline, telecommunication or power cables installation and inspection on the seabed. We present a SLAM system…
In this paper, we present the design and development of an undersea camera system. The goal of our system is to provide a 3D model of the undersea habitat in a long-term continuous manner. The most important feature of our system is the use…
Simulations are highly valuable in marine robotics, offering a cost-effective and controlled environment for testing in the challenging conditions of underwater and surface operations. Given the high costs and logistical difficulties of…
Despite impressive results achieved by many on-land visual mapping algorithms in the recent decades, transferring these methods from land to the deep sea remains a challenge due to harsh environmental conditions. Images captured by…
Real-time tracking of dynamic targets amidst large-scale, high-frequency disturbances remains a critical unsolved challenge in Robotic Ultrasound Systems (RUSS), primarily due to the end-to-end latency of existing systems. This paper argues…
In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…
In the absence of external reference position information (e.g. GNSS) SLAM has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend,…
Underwater simulators offer support for building robust underwater perception solutions. Significant work has recently been done to develop new simulators and to advance the performance of existing underwater simulators. Still, there…
This study tackles key obstacles in adopting surgical navigation in orthopedic surgeries, including time, cost, radiation, and workflow integration challenges. Recently, our work X23D showed an approach for generating 3D anatomical models…
With the democratization of 3D LiDAR sensors, precise LiDAR odometries and SLAM are in high demand. New methods regularly appear, proposing solutions ranging from small variations in classical algorithms to radically new paradigms based on…
Accurate 3D scene motion perception significantly enhances the safety and reliability of an autonomous driving system. Benefiting from its all-weather operational capability and unique perceptual properties, 4D mmWave radar has emerged as…
Recent work has achieved dense 3D reconstruction with wide-aperture imaging sonar using a stereo pair of orthogonally oriented sonars. This allows each sonar to observe a spatial dimension that the other is missing, without requiring any…
Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…