5 papers
Provably Guaranteed Polytopic Uncertainty Quantification for SLAM
Guangyang Zeng, Yulong Gao, Yuan Shen +4
In safety-critical robotics applications, guaranteed and practical uncertainty quantification (UQ) in perception is vital. Many existing works either offer no formal containment gu…
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…
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…
Distributed Multi-robot Source Seeking in Unknown Environments with Unknown Number of Sources
Lingpeng Chen, Siva Kailas, Srujan Deolasee +3
We introduce a novel distributed source seeking framework, DIAS, designed for multi-robot systems in scenarios where the number of sources is unknown and potentially exceeds the nu…
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…