10 papers
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…
Multi-Session Ground Texture SLAM in Low-Dynamic Environments
Kyle M. Hart, Brendan Englot
The simultaneous localization and mapping community has introduced a growing number of systems adapted for multi-session operations where the operational environment features low-d…
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…
Towards Versatile Opti-Acoustic Sensor Fusion and Volumetric Mapping
Ivana Collado-Gonzalez, John McConnell, Brendan Englot
Accurate 3D volumetric mapping is critical for autonomous underwater vehicles operating in obstacle-rich environments. Vision-based perception provides high-resolution data but fai…
Opti-Acoustic Scene Reconstruction in Highly Turbid Underwater Environments
Ivana Collado-Gonzalez, John McConnell, Paul Szenher +1
Scene reconstruction is an essential capability for underwater robots navigating in close proximity to structures. Monocular vision-based reconstruction methods are unreliable in t…
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…