3 papers
cs.RO2026
SurfSLAM: Sim-to-Real Underwater Stereo Reconstruction For Real-Time SLAM
Onur Bagoren, Seth Isaacson, Sacchin Sundar +6
Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a low-cost means of directly estimating metric depth to support these tasks.…
cs.CV2024
VAIR: Visuo-Acoustic Implicit Representations for Low-Cost, Multi-Modal Transparent Surface Reconstruction in Indoor Scenes
Advaith V. Sethuraman, Onur Bagoren, Harikrishnan Seetharaman +3
Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and…
cs.RO2023
Uncertainty-Aware Acoustic Localization and Mapping for Underwater Robots
Jingyu Song, Onur Bagoren, Katherine A. Skinner
For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dyna…