Brenton Leighton — accepted AI-conference papers

2020

The SPIR: An Autonomous Underwater Robot for Bridge Pile Cleaning and Condition Assessment

Khoa Le, Andrew To, Brenton Leighton, Mahdi Hassan, Dikai Liu

IROS 2020poster

The SPIR, Submersible Pylon Inspection Robot, is developed to provide an innovative and practical solution to keep workers safe during maintenance of underwater structures in shallow waters, which involves working in dangerous water currents, and high-pressure water-jet cleaning. More advanced than…

Cited by 22 Source ↗Scholar ↗

2019

Robust Global Structure From Motion Pipeline With Parallax on Manifold Bundle Adjustment and Initialization

Liyang Liu, Teng Zhang, Brenton Leighton, Liang Zhao, Shoudong Huang, Gamini Dissanayake

RA-L 2019

In this letter, we present a novel global structure from motion (SfM) pipeline that is particularly effective in dealing with low-parallax scenes and camera motion collinear with the features that represent the environment structure. It is therefore particularly suitable in Urban SLAM, in which freq

Cited by 8 Source ↗Scholar ↗