5 papers
Above and Below: Heterogeneous Multi-robot SLAM Across Surface and Underwater Domains
John McConnell, Armon Shariati, Paul Szenher +1
Multi-robot simultaneous localization and mapping (SLAM) is a fundamental task in multi-robot operations. Robots must have a common understanding of their location and that of thei…
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…
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…
Large-Scale Dense 3D Mapping Using Submaps Derived From Orthogonal Imaging Sonars
John McConnell, Ivana Collado-Gonzalez, Paul Szenher +1
3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoust…