相关论文: GPR-OdomNet: Difference and Similarity-Driven Odom…
Localization of robots using subsurface features observed by ground-penetrating radar (GPR) enhances and adds robustness to common sensor modalities, as subsurface features are less affected by weather, seasons, and surface changes. We…
Ground Penetrating Radar (GPR) is one of the most important non-destructive evaluation (NDE) devices to detect subsurface objects (i.e., rebars, utility pipes) and reveal the underground scene. The two biggest challenges in GPR-based…
There has been exciting recent progress in using radar as a sensor for robot navigation due to its increased robustness to varying environmental conditions. However, within these different radar perception systems, ground penetrating radar…
Ground Penetrating Radar (GPR) is one of the most important non-destructive evaluation (NDE) devices to detect the subsurface objects (i.e. rebars, utility pipes) and reveal the underground scene. One of the biggest challenges in GPR based…
In this work, we propose the use of Ground Penetrating Radar (GPR) for rover localization on Mars. Precise pose estimation is an important task for mobile robots exploring planetary surfaces, as they operate in GPS-denied environments.…
The horizontal orientation angle and vertical inclination angle of an elongated subsurface object are key parameters for object identification and imaging in ground penetrating radar (GPR) applications. Conventional methods can only extract…
Ground Penetrating Radar (GPR) has been widely used in pipeline detection and underground diagnosis. In practical applications, the characteristics of the GPR data of the detected area and the likely underground anomalous structures could…
3D object reconstruction based on deep neural networks has gained increasing attention in recent years. However, 3D reconstruction of underground objects to generate point cloud maps remains a challenge. Ground Penetrating Radar (GPR) is…
Hydrogeological flow and transport strongly depend on the connectivity of subsurface properties. Uncertainty concerning the underlying geological setting, due to a lack of field data and prior knowledge, calls for an evaluation of…
Ground Penetrating Radar (GPR) has been widely used to estimate the healthy operation of some urban roads and underground facilities. When identifying subsurface anomalies by GPR in an area, the obtained data could be unbalanced, and the…
Ground Penetrating Radar (GPR) is a very useful non-destructive evaluation (NDE) device for locating and mapping underground assets prior to digging and trenching efforts in construction. This paper presents a novel robotic system to…
The forward full-wave modeling of ground-penetrating radar (GPR) facilitates the understanding and interpretation of GPR data. Traditional forward solvers require excessive computational resources, especially when their repetitive…
Ground-penetrating radar (GPR) has been used as a non-destructive tool for tree root inspection. Estimating root-related parameters from GPR radargrams greatly facilitates root health monitoring and imaging. However, the task of estimating…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…
Ground penetrating radar (GPR) has become a rapid and non-destructive solution for road subsurface distress (RSD) detection. However, recognizing RSD from GPR images is labor-intensive and heavily relies on the expertise of inspectors. Deep…
This paper presents a radar odometry method that combines probabilistic trajectory estimation and deep learned features without needing groundtruth pose information. The feature network is trained unsupervised, using only the on-board radar…
Ground Penetrating Radar (GPR) is one of the most important non-destructive evaluation (NDE) instruments to detect and locate underground objects (i.e., rebars, utility pipes). Many previous researches focus on GPR image-based feature…
Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…
Optical coherence tomography (OCT) is a non-invasive imaging technique that can produce images of the eye at the microscopic level. OCT image segmentation to localise retinal layer boundaries is a fundamental procedure for diagnosing and…
We address the problem of robot localization using ground penetrating radar (GPR) sensors. Current approaches for localization with GPR sensors require a priori maps of the system's environment as well as access to approximate global…