Perception for Underwater Robots
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 …
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 …
reliable localization strategies. In this article, we propose a dual-layer planning approach …
Overhead image factors for underwater sonar-based slam
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 …
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
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 …
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 …
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 …
subsystems: the solid-state-LiDAR-inertial odometry (SSLIO) subsystem and the visual …
Improving Generalization of Synthetically Trained Sonar Image Descriptors for Underwater Place Recognition
Autonomous navigation in underwater environments presents challenges due to factors
such as light absorption and water turbidity, limiting the effectiveness of optical sensors …
such as light absorption and water turbidity, limiting the effectiveness of optical sensors …
DISO: Direct Imaging Sonar Odometry
This paper introduces a novel sonar odometry system that estimates the relative spatial
transformation between two sonar image frames. Considering the unique challenges, such …
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 …
Map** (SLAM) using multibeam sonar imaging. The widely used Iterative Closest Point …
[HTML][HTML] A hardware compressed sensing method for ultrasonic imaging
Ultrasonic sensing techniques have been widely used for autonomous robotic applications
with low-profile and cost-effective ultrasonic distance sensors. These sensors are energy …
with low-profile and cost-effective ultrasonic distance sensors. These sensors are energy …