9 accepted papers
Autonomous navigation in snowy environments is essential for snow removal robots operating in regions with heavy snowfall. However, snow accumulation obscures terrain features and introduces sensor noise, making reliable perception and navigation difficult. Moreover, snow removal robots typically op…
2D forward looking sonar (FLS) has gained widespread application in underwater robotics research, primarily due to its capacity to produce high-resolution images in diverse aquatic environments. This study deals with pose estimation with given 3D positions and corresponding 2D pixels, which is a fun
2D forward-looking sonar is a crucial sensor for underwater robotic perception. A well-known problem in this field is estimating missing information in the elevation direction during sonar imaging. There are demands to estimate 3D information per image for 3D mapping and robot navigation during fly-…
Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which allows the robot to generate 3D maps with fly-through motion. How…
A novel method to estimate the missing dimension in 2D acoustic images for 3D reconstruction is proposed in this paper. Acoustic cameras can acquire high resolution 2D images in underwater environment insusceptible to water turbidity and light condition. However, the formulation of acoustic images l
ACMarker is an acoustic camera-based fiducial marker system designed for underwater environments. Optical camera-based fiducial marker systems have been widely used in computer vision and robotics applications such as augmented reality (AR), camera calibration, and robot navigation. However, in unde
Localization is an important task for mobile service robots in indoor spaces. In this research, we propose a novel technique for indoor localization using a spherical camera. Spherical cameras can obtain a complete view of the surroundings allowing the use of global environmental information. We tak…
We propose a new detection method to predict a vehicle's trajectory and use it for detecting lane changes of surrounding vehicles. According to the previous research, more than 90% of the car crashes are caused by human errors, and lane changes are the main factor. Therefore, if a lane change can be
We present a novel rough terrain traversability analysis method for mobile robot navigation. We focused on the scenario of mobile robot operation in a disaster environment with limited sensor data. The robot builds a map in real time and analyzes the terrain traversability of its surrounding environ…