9 papers
Manipulider: A Multi-Engine Buoyancy-Controlled Robot for Thrusterless Underwater Gliding and Manipulation
Yitao Jiang, Yewei Huang, Weizhi Cao +5
The Manipulider is a buoyancy-actuated underwater robot that enables thrusterless, glide-like locomotion and attitude-based manipulation, while providing a magnetic modular interfa…
SGM-SLAM: Scene Graph Matching for Data-Efficient Distributed SLAM
Yewei Huang, Tixiao Shan, Abhinav Rajvanshi +4
We introduce a data-efficient distributed Simultaneous Localization and Mapping (SLAM) framework designed for a team of robots equipped with LiDAR, cameras, and inertial sensors. O…
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…
Active Tracking of Marine Pollution Sources: An Uncertainty-Aware Categorical Bayesian Framework for Unmanned Surface Vehicles
Song Ma, Yanchao Wang, Yewei Huang +2
This paper presents an uncertainty-aware framework for the active tracking of marine pollution sources using Unmanned Surface Vehicles (USVs). The proposed framework employs an Inf…
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…
CVD-SfM: A Cross-View Deep Front-end Structure-from-Motion System for Sparse Localization in Multi-Altitude Scenes
Yaxuan Li, Yewei Huang, Bijay Gaudel +2
We present a novel multi-altitude camera pose estimation system, addressing the challenges of robust and accurate localization across varied altitudes when only considering sparse…