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Article
Opportunistic sampling-based active visual SLAM for underwater inspection
This paper reports on an active SLAM framework for performing large-scale inspections with an underwater robot. We propose a path planning algorithm integrated with visual SLAM that plans loop-closure paths in...
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Article
DVL-SLAM: sparse depth enhanced direct visual-LiDAR SLAM
This paper presents a framework for direct visual-LiDAR SLAM that combines the sparse depth measurement of light detection and ranging (LiDAR) with a monocular camera. The exploitation of the depth measurement...
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Article
Underwater Image Dehazing via Unpaired Image-to-image Translation
Underwater imaging has long been focused on dehazing and color correction to address severe degradation in the water medium. In this paper, we propose a learning-based image restoration method that uses Genera...
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Article
Night-to-day thermal image translation for deep thermal place recognition
Place recognition PR is a fundamental task in autonomous robot systems that is still actively being researched. In recent years, CNN-based place recognition methods have surpassed classical methods. However, p...
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Article
Open AccessImaging radar and LiDAR image translation for 3-DOF extrinsic calibration
The integration of sensor data is crucial in the field of robotics to take full advantage of the various sensors employed. One critical aspect of this integration is determining the extrinsic calibration param...
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Article
Open AccessLiDAR odometry survey: recent advancements and remaining challenges
Odometry is crucial for robot navigation, particularly in situations where global positioning methods like global positioning system are unavailable. The main goal of odometry is to predict the robot’s motion ...