Perception for Underwater Robots

J McConnell, I Collado-Gonzalez, B Englot - Current Robotics Reports, 2022 - Springer
Abstract Purpose of Review The purpose of this review is to survey recent work in the area of
perception for underwater robots. We consider problems such as object-level identification …

Dual-Layer path planning with pose SLAM for autonomous exploration in GPS-denied environments

S Zhang, R Cui, W Yan, Y Li - IEEE Transactions on Industrial …, 2023 - ieeexplore.ieee.org
Robot exploration in GPS-denied environments is a significant challenge due to the lack of
reliable localization strategies. In this article, we propose a dual-layer planning approach …

Overhead image factors for underwater sonar-based slam

J McConnell, F Chen, B Englot - IEEE Robotics and Automation …, 2022 - ieeexplore.ieee.org
Simultaneous localization and map** (SLAM) is a critical capability for any autonomous
underwater vehicle (AUV). However, robust, accurate state estimation is still a work in …

DRACo-SLAM: Distributed robust acoustic communication-efficient SLAM for imaging sonar equipped underwater robot teams

J McConnell, Y Huang, P Szenher… - 2022 IEEE/RSJ …, 2022 - ieeexplore.ieee.org
An essential task for a multi-robot system is generating a common understanding of the
environment and relative poses between robots. Cooperative tasks can be executed only …

A combinatorial registration method for forward-looking sonar image

B Li, W Yan, H Li - IEEE Transactions on Industrial Informatics, 2023 - ieeexplore.ieee.org
In this article, we present a novel and robust registration method for autonomous underwater
vehicles (AUV) using the forward-looking sonar (FLS). Due to the sparsity and repeatability …

Solid-state-lidar-inertial-visual odometry and map** via quadratic motion model and reflectivity information

T Yin, J Yao, Y Lu, C Na - Electronics, 2023 - mdpi.com
This paper proposes a solid-state-LiDAR-inertial-visual fusion framework containing two
subsystems: the solid-state-LiDAR-inertial odometry (SSLIO) subsystem and the visual …

Improving Generalization of Synthetically Trained Sonar Image Descriptors for Underwater Place Recognition

I Donadi, E Olivastri, D Fusaro, W Li… - … on Computer Vision …, 2023 - Springer
Autonomous navigation in underwater environments presents challenges due to factors
such as light absorption and water turbidity, limiting the effectiveness of optical sensors …

DISO: Direct Imaging Sonar Odometry

S Xu, K Zhang, Z Hong, Y Liu… - 2024 IEEE International …, 2024 - ieeexplore.ieee.org
This paper introduces a novel sonar odometry system that estimates the relative spatial
transformation between two sonar image frames. Considering the unique challenges, such …

[HTML][HTML] Graph Matching for Underwater Simultaneous Localization and Map** Using Multibeam Sonar Imaging

L Zhuang, X Chen, W Lu, Y Yan - Journal of Marine Science and …, 2024 - mdpi.com
This paper addresses the challenges of underwater Simultaneous Localization and
Map** (SLAM) using multibeam sonar imaging. The widely used Iterative Closest Point …

[HTML][HTML] A hardware compressed sensing method for ultrasonic imaging

X Sun, J Zhang, AJ Croxford, BW Drinkwater - Sensors and Actuators A …, 2025 - Elsevier
Ultrasonic sensing techniques have been widely used for autonomous robotic applications
with low-profile and cost-effective ultrasonic distance sensors. These sensors are energy …