4 papers
Mapping Pamir: Multi-Session Visual-Inertial SLAM and 3D Reconstruction of an Underwater Shipwreck
Michalis Chatzispyrou, Luke Horgan, Hyunkil Hwang +6
This paper presents a framework for multi-session mapping of underwater environments utilizing an affordable action camera. The Visual-Inertial data are augmented by water depth re…
Variable-Resolution Virtual Maps for Autonomous Exploration with Unmanned Surface Vehicles (USVs)
Ye Li, Yewei Huang, Wenlong GaoZhang +3
Autonomous exploration by unmanned surface vehicles (USVs) in near-shore waters requires reliable localisation and consistent mapping over extended areas, but this is challenged by…
Underwater Dense Mapping with the First Compact 3D Sonar
Chinmay Burgul, Yewei Huang, Michalis Chatzispyrou +3
In the past decade, the adoption of compact 3D range sensors, such as LiDARs, has driven the developments of robust state-estimation pipelines, making them a standard sensor for ae…
Mapping the Catacombs: An Underwater Cave Segment of the Devil's Eye System
Michalis Chatzispyrou, Luke Horgan, Hyunkil Hwang +5
This paper presents a framework for mapping underwater caves. Underwater caves are crucial for fresh water resource management, underwater archaeology, and hydrogeology. Mapping th…