相关论文: Low-Cost Underwater In-Pipe Centering and Inspecti…
Depth estimation is one of the key technologies for realizing 3D perception in unmanned systems. Monocular depth estimation has been widely researched because of its low-cost advantage, but the existing methods face the challenges of poor…
Liquids and granular media are pervasive throughout human environments. Their free-flowing nature causes people to constrain them into containers. We do so with thousands of different types of containers made out of different materials with…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…
A Remotely Operated Vehicle (ROV) is a tethered underwater robot used for tasks like inspection and intervention. While essential tools for underwater science, the high cost of commercial ROVs and a persistent gap between mechanically…
Underwater environments pose significant challenges for visual Simultaneous Localization and Mapping (SLAM) systems due to limited visibility, inadequate illumination, and sporadic loss of structural features in images. Addressing these…
Analysis of sediments from rivers, lakes, reservoirs, wetlands and other constructed surface water impoundments is an important tool to characterize the function and health of these systems, but is generally carried out manually. This is…
In this paper, we develop a system for the low-cost indoor localization and tracking problem using radio signal strength indicator, Inertial Measurement Unit (IMU), and magnetometer sensors. We develop a novel and simplified probabilistic…
Accurate spatiotemporal calibration is a prerequisite for multisensor fusion. However, sensors are typically asynchronous, and there is no overlap between the fields of view of cameras and LiDARs, posing challenges for intrinsic and…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Underwater flow sensing is critical for unmanned underwater vehicles (UUVs) and environmental monitoring, yet existing sensors often suffer from low responsiveness, high detection thresholds, limited directional discrimination, complex…
This paper explores minimum sensing navigation of robots in environments cluttered with obstacles. The general objective is to find a path plan to a goal region that requires minimal sensing effort. In [1], the information-geometric RRT*…
This paper introduces a novel automatic coverage path planning algorithm for bathymetry surveying with unmanned surface vehicles. The detection range of the mapping sensor employed - a multibeam echo sounder - is heavily influenced by local…
The problem of detecting buried unexploded ordnance (UXO) is addressed with a sensor deployed from a shallow-draft surface vessel. This sonar system produces three dimensional synthetic aperture sonar (SAS) imagery of both surficial and…
The first choice in diagnostic imaging for patients suffering from peripheral arterial disease is 2D ultrasound (US). However, for a proper imaging process, a skilled and experienced sonographer is required. Additionally, it is a highly…
In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…
Bin-picking of metal objects using low-cost RGB-D cameras often suffers from sparse depth information and reflective surface textures, leading to errors and the need for manual labeling. To reduce human intervention, we propose a two-stage…
Depth perception is essential for a robot's spatial and geometric understanding of its environment, with many tasks traditionally relying on hardware-based depth sensors like RGB-D or stereo cameras. However, these sensors face practical…
Estimating the direction of ambient fluid flow is key for many flying or swimming animals and robots, but can only be accomplished through indirect measurements and active control. Recent work with tethered flying insects indicates that…
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…