3 accepted papers
This paper presents a Spatio-Temporal Transformer-based algorithm for underwater diver hand gesture recognition, forming a key component of diver-robot teaming. Existing computer vision-based approaches primarily rely on frame-wise gesture detection, which often fails to capture motion continuity an
Robots equipped with rich sensor suites can localize reliably in partially-observable environments---but powering every sensor continuously is wasteful and often infeasible. Belief-space planners address this by propagating pose-belief covariance through analytic models and switching sensors heurist…
In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection and keypoint extraction, which can lead to data loss and poo