9 accepted papers
This letter presents LiDAR-BIND, a novel sensor fusion framework aimed at enhancing the reliability and safety of autonomous vehicles (AVs) through a shared latent embedding space. With this method, the addition of different modalities, such as sonar and radar, into existing navigation setups become
Biologically inspired algorithms for simultaneous localization and mapping (SLAM) such as RatSLAM have been shown to yield effective and robust robot navigation in both indoor and outdoor environments. One drawback however is the sensitivity to perceptual aliasing due to the template matching of low…
This article presents sensor fusion techniques for ultra-wideband-based localization to achieve sufficient accuracy and robustness for the control of vehicles in an industrial environment. We propose two outlier detection methods in combination with an extended Kalman Filter, and present experimenta
This paper presents a proof-of-concept for a localization and mapping system for magnetic crawlers performing inspection tasks on structures made of large metal plates. By relying on ultrasonic guided waves reflected from the plate edges, we show that it is possible to recover the plate geometry and…
State-of-the-art autonomous vehicles mainly rely on optical sensors to perceive their environment. However, the performance of these sensors worsens dramatically in environments where airborne particles are present. Sonar sensors rely on acoustic waves which are able to pass through these distortion…
Obtaining accurate data about the environment in which a robot is located is a crucial matter when it comes to autonomous navigation and other robotic applications. A popular method of acquiring this information is to use sonar-rings, where a robot is fitted with multiple simple ultrasound transduce…
In this paper we present a flexible low-cost sonar sensor platform that can be used for a wide range of biomimetic sonar experiments and autonomous sonar navigation targeted at robotics applications. The navigation abilities of bats using ultrasound (sonar) in unknown cluttered environments are very…
Many popular advanced sonar systems provide accurate and reliable measurements containing crucial info needed by robotic applications such as range, bearing and reflection strength of the objects in the field of view. While these sensor systems provide these crucial pieces of information accurately,…
In this paper, we present a solution to the Simultaneous Localization and Mapping problem by combining a novel 3D in-air sonar sensor with techniques for estimating the egomotion of a mobile platform (called acoustic flow odometry) and a bio-inspired mapping module (called BatSLAM). This combination…