3 accepted papers
An open-source software framework is presented that allows real-time underwater mapping with popular marine robotics components, namely a BlueRobotics BlueROV2 with its standard Ping360 Mechanical Scanning Sonar (MSS) and a A50 Doppler Velocity Log (DVL), which are low-cost devices for their respect…
In this paper, we introduce Fourier-SOFT 2D (FS2D) as a new robust registration method. FS2D operates in the frequency domain where it exploits the well-known decoupling of rotation and translation. The challenging part of determining the rotation parameter is solved here based on a projection of th…
Despite the recent progress, guidance, navigation, and control (GNC) are largely unsolved for agile micro autonomous underwater vehicles (μAUVs). Hereby, robust and accurate self-localization systems which fit μAUVs play a key role and their absence constitutes a severe bottleneck in micro underwate…