9 papers
A High-accuracy Event-based Underwater SLAM System
Yifan Peng, Qihang Liu, Haoying Li +3
While event cameras offer immense potential for underwater SLAM, existing Time Surface (TS)-based methods prove highly unreliable when deployed underwater. Fluctuating camera veloc…
Tether-Aware Dynamic Collision Avoidance for USV-HROV Systems
Yang Gu, Ziyang Hong, Xuanlin Chen +4
Heterogeneous marine robotic systems composed of an unmanned surface vehicle (USV) and a hybrid remotely operated vehicle (HROV) have shown great potential for subsea cable inspect…
Hierarchical Multi-Modal Planning for Fixed-Altitude Sparse Target Search and Sampling
Lingpeng Chen, Yuchen Zheng, Apple Pui-Yi Chui +2
Efficient monitoring of sparse benthic phenomena, such as coral colonies, presents a great challenge for Autonomous Underwater Vehicles. Traditional exhaustive coverage strategies…
SonarSweep: Fusing Sonar and Vision for Robust 3D Reconstruction via Plane Sweeping
Lingpeng Chen, Jiakun Tang, Apple Pui-Yi Chui +2
Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due t…
GeVI-SLAM: Gravity-Enhanced Stereo Visua Inertial SLAM for Underwater Robots
Yuan Shen, Yuze Hong, Guangyang Zeng +4
Accurate visual inertial simultaneous localization and mapping (VI SLAM) for underwater robots remains a significant challenge due to frequent visual degeneracy and insufficient in…
AquaticVision: Benchmarking Visual SLAM in Underwater Environment with Events and Frames
Yifan Peng, Yuze Hong, Ziyang Hong +2
Many underwater applications, such as offshore asset inspections, rely on visual inspection and detailed 3D reconstruction. Recent advancements in underwater visual SLAM systems fo…
Bias-Eliminated PnP for Stereo Visual Odometry: Provably Consistent and Large-Scale Localization
Guangyang Zeng, Yuan Shen, Ziyang Hong +4
In this paper, we first present a bias-eliminated weighted (Bias-Eli-W) perspective-n-point (PnP) estimator for stereo visual odometry (VO) with provable consistency. Specifically,…
SCORE: Saturated Consensus Relocalization in Semantic Line Maps
Haodong Jiang, Xiang Zheng, Yanglin Zhang +4
We present SCORE, a visual relocalization system that achieves unprecedented map compactness by adopting semantically labeled 3D line maps. SCORE requires only 0.01\%-0.1\% of the…
BESTAnP: Bi-Step Efficient and Statistically Optimal Estimator for Acoustic-n-Point Problem
Wenliang Sheng, Hongxu Zhao, Lingpeng Chen +6
We consider the acoustic-n-point (AnP) problem, which estimates the pose of a 2D forward-looking sonar (FLS) according to n 3D-2D point correspondences. We explore the nature of th…