2 citations · 3 across the 14 of their papers we have counts for
16 papers
Evaluation of Vision-Language Models Across Diverse Coastal Environments
Seth Knoop, Chad R. Samuelson, Gabriel R. Slade +2
Vision-language models (VLMs) enable robotic per- ception by associating visual observations with natural-language concepts. Yet their performance in coastal environments remains l…
Coastal Environment Generation with HoloOcean
Abigail Austin, Brady Moon, Joshua G. Mangelson
Marine robotic simulation provides a safe and inexpensive method of developing and testing algorithms for unmanned underwater vehicle (UUV) and unmanned surface vessel (USV) autono…
Open-Set 3D Scene Graphs for Field Robotics: An Outdoor Case Study
Chad R. Samuelson, Gabriel R. Slade, Joshua G. Mangelson
Three-dimensional scene graphs (3DSGs) have emerged as a promising approach for building geometrically grounded, semantically informed, hierarchical general-purpose maps to support…
Low-cost Multi-agent Fleet for Acoustic Cooperative Localization Research
Nelson Durrant, Braden Meyers, Matthew McMurray +5
Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Au…
Testing and Evaluation of Underwater Vehicle Using Hardware-In-The-Loop Simulation with HoloOcean
Braden Meyers, Joshua G. Mangelson
Testing marine robotics systems in controlled environments before field tests is challenging, especially when acoustic-based sensors and control surfaces only function properly und…
A Preview of HoloOcean 2.0
Blake Romrell, Abigail Austin, Braden Meyers +3
Marine robotics simulators play a fundamental role in the development of marine robotic systems. With increased focus on the marine robotics field in recent years, there has been s…
Terra: Hierarchical Terrain-Aware 3D Scene Graph for Task-Agnostic Outdoor Mapping
Chad R. Samuelson, Abigail Austin, Seth Knoop +4
Outdoor intelligent autonomous robotic operation relies on a sufficiently expressive map of the environment. Classical geometric mapping methods retain essential structural environ…
Feature Geometry for Stereo Sidescan and Forward-looking Sonar
Kalin Norman, Joshua G. Mangelson
In this paper, we address stereo acoustic data fusion for marine robotics and propose a geometry-based method for projecting observed features from one sonar to another for a cross…
Factor-Graph-Based Passive Acoustic Navigation for Decentralized Cooperative Localization Using Bearing Elevation Depth Difference
Kalliyan Velasco, Timothy W. McLain, Joshua G. Mangelson
Accurate and scalable underwater multi-agent localization remains a critical challenge due to the constraints of underwater communication. In this work, we propose a multi-agent lo…
Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments
Chad R Samuelson, Timothy W McLain, Joshua G Mangelson
High-level autonomous operations depend on a robot's ability to construct a sufficiently expressive model of its environment. Traditional three-dimensional (3D) scene representatio…
Group- consistent measurement set maximization via maximum clique over k-Uniform hypergraphs for robust multi-robot map merging
Brendon Forsgren, Ram Vasudevan, Michael Kaess +2
This paper unifies the theory of consistent-set maximization for robust outlier detection in a simultaneous localization and mapping framework. We first describe the notion of pair…
Group- Consistent Measurement Set Maximization for Robust Outlier Detection
Brendon Forsgren, Ram Vasudevan, Michael Kaess +2
This paper presents a method for the robust selection of measurements in a simultaneous localization and mapping (SLAM) framework. Existing methods check consistency or compatibili…
ShapeMap 3-D: Efficient shape mapping through dense touch and vision
Sudharshan Suresh, Zilin Si, Joshua G. Mangelson +2
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded duri…
Tactile SLAM: Real-time inference of shape and pose from planar pushing
Sudharshan Suresh, Maria Bauza, Kuan-Ting Yu +3
Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also acco…
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra
Joshua G. Mangelson, Maani Ghaffari, Ram Vasudevan +1
An accurate characterization of pose uncertainty is essential for safe autonomous navigation. Early pose uncertainty characterization methods proposed by Smith, Self, and Cheeseman…
Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming
Joshua G. Mangelson, Jinsun Liu, Ryan M. Eustice +1
Autonomous navigation requires an accurate model or map of the environment. While dramatic progress in the prior two decades has enabled large-scale SLAM, the majority of existing…