7 accepted papers
High-resolution seafloor mapping continues to be challenging, primarily due to the high costs and complexity of traditional sensors. Laser scanners offer a more affordable alternative, using a monocular camera and a laser stripe. While this method provides high-resolution 3D reconstructions, it is s
Unmanned underwater vehicles (UUVs) require precise and energy-efficient six-degrees-of-freedom (6-DOF) control to operate in complex underwater environments for long periods of time. Traditional controllers, like Proportional-Integral- Derivative (PID), struggle with nonlinear dynamics, while Model
This research addresses the challenge of estimating bathymetry from imaging sonars where the state-of-the-art works have primarily relied on either supervised learning with ground-truth labels or surface rendering based on the Lambertian assumption. In this letter, we propose a novel, self-supervise
This research addresses the challenge of estimating the ego-motion of a forward-looking sonar (FLS) through deep neural networks (DNNs) and their application in autonomous underwater robots. Over the last two decades, analytical methods have been developed to perform odometry estimation using FLS da
MEMS Attitude Heading Reference Systems are widely employed to determine a system’s attitude, but sensor measurement biases limit their accuracy. This paper introduces a novel factor graph-based method called MAgnetometer and GYroscope Calibration (MAGYC). MAGYC leverages three-axis angular rate mea…
Reducing material spillage by robotic mining mobile manipulators, such as front-end loaders, is necessary to improve mining operations. To this end, the present work proposes an approach to reduce disturbances on the end-effector induced by the terrain and propagated through the wheels and arm links…
This paper reports on a 3D photomosaicing pipeline using data collected from an autonomous underwater vehicle performing simultaneous localization and mapping (SLAM). The pipeline projects and blends 2D imaging sonar data onto a large-scale 3D mesh that is either given a priori or derived from SLAM.…