1 citations · 1 across the 5 of their papers we have counts for
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DRACo-SLAM: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar Equipped Underwater Robot Teams
John McConnell, Yewei Huang, Paul Szenher +2
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a…
Virtual Maps for Autonomous Exploration of Cluttered Underwater Environments
Jinkun Wang, Fanfei Chen, Yewei Huang +3
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncerta…
Overhead Image Factors for Underwater Sonar-based SLAM
John McConnell, Fanfei Chen, Brendan Englot
Simultaneous localization and mapping (SLAM) is a critical capability for any autonomous underwater vehicle (AUV). However, robust, accurate state estimation is still a work in pro…
Predictive 3D Sonar Mapping of Underwater Environments via Object-specific Bayesian Inference
John McConnell, Brendan Englot
Recent work has achieved dense 3D reconstruction with wide-aperture imaging sonar using a stereo pair of orthogonally oriented sonars. This allows each sonar to observe a spatial d…
Fusing Concurrent Orthogonal Wide-aperture Sonar Images for Dense Underwater 3D Reconstruction
John McConnell, John D. Martin, Brendan Englot
We propose a novel approach to handling the ambiguity in elevation angle associated with the observations of a forward looking multi-beam imaging sonar, and the challenges it poses…