7 papers
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…
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…
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…
DRACo-SLAM2: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar EquippedUnderwater Robot Teams with Object Graph Matching
Yewei Huang, John McConnell, Xi Lin +1
We present DRACo-SLAM2, a distributed SLAM framework for underwater robot teams equipped with multibeam imaging sonar. This framework improves upon the original DRACo-SLAM by intro…
Distributional Reinforcement Learning based Integrated Decision Making and Control for Autonomous Surface Vehicles
Xi Lin, Paul Szenher, Yewei Huang +1
With the growing demands for Autonomous Surface Vehicles (ASVs) in recent years, the number of ASVs being deployed for various maritime missions is expected to increase rapidly in…