2 citations · 2 across the 7 of their papers we have counts for
10 papers
Towards Scaling Marine Perception with Synthetic Data
Haoyu Ma, Onur Bagoren, Anja Sheppard +6
Scalable machine learning in challenging underwater environments is strongly limited by the lack of labeled real-world training data. This data is often expensive and laborious to…
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.…
SLIM-VDB: A Real-Time 3D Probabilistic Semantic Mapping Framework
Anja Sheppard, Parker Ewen, Joey Wilson +6
This paper introduces SLIM-VDB, a new lightweight semantic mapping system with probabilistic semantic fusion for closed-set or open-set dictionaries. Advances in data structures fr…
A Stochastic Approach to Terrain Maps for Safe Lunar Landing
Anja Sheppard, Chris Reale, Katherine A. Skinner
Safely landing on the lunar surface is a challenging task, especially in the heavily-shadowed South Pole region where traditional vision-based hazard detection methods are not reli…
ShipwreckFinder: A QGIS Tool for Shipwreck Detection in Multibeam Sonar Data
Anja Sheppard, Tyler Smithline, Andrew Scheffer +5
In this paper, we introduce ShipwreckFinder, an open-source QGIS plugin that detects shipwrecks from multibeam sonar data. Shipwrecks are an important historical marker of maritime…
Field Report on Ground Penetrating Radar for Localization at the Mars Desert Research Station
Anja Sheppard, Katherine A. Skinner
In this field report, we detail the lessons learned from our field expedition to collect Ground Penetrating Radar (GPR) data in a Mars analog environment for the purpose of validat…
MarsLGPR: Mars Rover Localization with Ground Penetrating Radar
Anja Sheppard, Katherine A. Skinner
In this work, we propose the use of Ground Penetrating Radar (GPR) for rover localization on Mars. Precise pose estimation is an important task for mobile robots exploring planetar…
Learning Surface Terrain Classifications from Ground Penetrating Radar
Anja Sheppard, Jason Brown, Nilton Renno +1
Terrain classification is an important problem for mobile robots operating in extreme environments as it can aid downstream tasks such as autonomous navigation and planning. While…
Machine Learning for Shipwreck Segmentation from Side Scan Sonar Imagery: Dataset and Benchmark
Advaith V. Sethuraman, Anja Sheppard, Onur Bagoren +4
Open-source benchmark datasets have been a critical component for advancing machine learning for robot perception in terrestrial applications. Benchmark datasets enable the widespr…
Automatic Data Processing for Space Robotics Machine Learning
Anja Sheppard, Katherine A. Skinner
Autonomous terrain classification is an important problem in planetary navigation, whether the goal is to identify scientific sites of interest or to traverse treacherous areas saf…