5 accepted papers
This letter introduces a novel method to estimate distance fields from noisy point clouds using Gaussian Process (GP) regression. Distance fields, or distance functions, gained popularity for applications like point cloud registration, odometry, SLAM, path planning, shape reconstruction, etc. A dist
This paper presents a Graph-based Simultaneous Localization And Mapping (GraphSLAM) approach for a robotic system relying on the reflections of ultrasonic guided waves to enable long-range inspection tasks on plate-based metal structures. A measurement model that can leverage multi-order acoustic ec…
The ultrasonic mapping of plate-based facilities is an essential step towards the robotic inspection of large metal structures such as storage tanks or ship hulls. This work proposes a novel framework that exploits ultrasonic echoes to recover grid-based and feature-based spatial representations joi…
We present a novel FastSLAM approach for a robotic system inspecting structures made of large metal plates. By taking advantage of the reflections of ultrasonic guided waves on the plate boundaries, it is possible to recover, with enough precision, both the plate shape and the robot trajectory. Cont
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…