8 papers
Mining beyond Earth with Space Robots: Exploration, Sampling, and Extraction
Dong Li, Dujun Nie, Xiaotong Zhang +11
Space resource acquisition and utilization, commonly referred to as Space Mining, represent critical pathways for enabling sustained human exploration and unlocking commercial oppo…
Motion-Acceleration Calibration and Compensation in IMUs without External Equipment for Attitude Estimation Filters
Fabian Arzberger, Andreas Nüchter
Attitude estimation based on inertial sensing requires measurements of local angular velocities and local gravity via gyroscopes and accelerometers. However, during the motion of a…
A UAV-Mounted Sensor Network for Close-Range Inspection of Wind Turbine Rotor Blades
Jost Wittmann, Ahmed Abdullahi Hassan, Nils Kömpe +1
Inspection of offshore wind turbine rotor blades is critical for predictive maintenance to maximise efficiency and extend operational lifetime. However, it remains a challenging ta…
Towards 3D karst underwater scene reconstruction from rotating sonar data
Georgios Evangelos Margaritis, Lionel Lapierre, Simon Rohou +3
Karst aquifers provide critical freshwater resources but pose significant hazards due to their complex and poorly understood subsurface geometry. Mapping these environments is chal…
Edge Radar Material Classification Under Geometry Shifts
Jannik Hohmann, Dong Wang, Andreas Nüchter
Material awareness can improve robotic navigation and interaction, particularly in conditions where cameras and LiDAR degrade. We present a lightweight mmWave radar material classi…
Dynamic-ICP: Doppler-Aware Iterative Closest Point Registration for Dynamic Scenes
Dong Wang, Daniel Casado Herraez, Stefan May +1
Reliable odometry in highly dynamic environments remains challenging when it relies on ICP-based registration: ICP assumes near-static scenes and degrades in repetitive or low-text…