3 papers
cs.RO2026
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…
cs.RO2025
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…
cs.RO2024
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…