7 accepted papers
Despite recent advances in semantic Simultaneous Localization and Mapping (SLAM) for terrestrial and aerial applications, underwater semantic SLAM remains an open and largely unaddressed research problem due to the unique sensing modalities and the object classes found underwater. This paper present…
We present the Perseus autonomous underwater vehicle (AUV) - an A-sized aaA-size stands for the standard sonobuoy [2] form factor, with a maximum diameter of 124 mm and a length of around 0.9 m, ensuring the ability to launch from standard sonobuoy launchers onboard a wide array of fixed wing and ro…
This paper presents a method for processing sparse, non-Gaussian multimodal data in a simultaneous localization and mapping (SLAM) framework using factor graphs. Our approach demonstrates the feasibility of using a sum-product inference strategy to recover functional belief marginals from highly non…
Synthetic Aperture Sonar (SAS) is a technique to improve the spatial resolution from a moving set of receivers by extending the array in time, increasing the effective array length and aperture. This technique is limited by the accuracy of the receiver position estimates, necessitating highly accura…
The underwater environment poses significant challenges for accurate autonomous underwater vehicle (AUV) navigation. Electromagnetic (EM) waves rapidly attenuate due to absorption by water, thereby preventing the use of traditional EM -based positioning methods such as Global Positioning System (GPS…
Accurate localization is critical for a robotic vehicle to navigate autonomously. Conventional autonomous underwater vehicles (AUV s) typically rely on an inertial navigation system (INS) aided by a Doppler velocity log (DVL) in order to reduce the rate of positional error growth of dead-reckoning t…
This paper presents an acoustic localization system for small and low-cost autonomous underwater vehicles (AUVs). Accurate and robust localization for low-cost AUVs would lower the barrier toward multi-AUV research in river and ocean environments. However, these AUVs introduce size, power, and cost…