4 accepted papers
Underwater intervention is an important capability in several marine domains, with numerous industrial, scientific, and defense applications. However, existing perception systems used during intervention operations rely on data from optical cameras, which limits capabilities in poor visibility or li…
High resolution underwater 3D scene reconstruction is crucial for various applications, including construction, infrastructure maintenance, monitoring, exploration, and scientific investigation. Prior work has leveraged the complementary sensing modalities of imaging sonars and optical cameras for o
Autonomous underwater gliders (AUGs) are capable of traversing basin scale distances but lack sufficient localization accuracy to operate without periodic surfacing to obtain GPS fixes and constrain localization drift. Conventionally, AUGs use a dynamic flight model with depth averaged current corre…
This letter presents a novel visual feature based scene mapping method for underwater vehicle manipulator systems (UVMSs), with specific emphasis on robust mapping in natural seafloor environments. Our method uses GPU accelerated SIFT features in a graph optimization framework to build a feature map