We review the use of factor graphs for the modeling and solving of large-scale inference
problems in robotics. Factor graphs are a family of probabilistic graphical models, other …

One of the largest movers of the world economy is the oil and gas industry. The industry
generates billions of barrels of oil to match more than half the world's energy demands …

This paper presents SVIn2, a novel tightly-coupled keyframe-based Simultaneous
Localization and Mapping (SLAM) system, which fuses Scanning Profiling Sonar, Visual …

This letter reports on a real-time simultaneous localization and mapping (SLAM) algorithm
for an underwater robot using an imaging forward-looking sonar and its application in the …

Abstract Autonomous Underwater Vehicles (AUVs) are used by the scientific community for
various applications, from collecting well‐distributed high‐quality data to mapping the …

The estimation of the geometric structure of objects located underwater underpins a plethora
of applications such as mapping shipwrecks for archaeology, monitoring the health of coral …

This paper presents coupled and decoupled multi‐autonomous underwater vehicle (AUV)
motion planning approaches for maximizing information gain. The work is motivated by …

Traditional methods for detecting oil and gas leakage in subsea pipelines have low
efficiency and accuracy. There are also many limitations in using conditions, and it heavily …

Hyperspectral imaging is one of the promising remote sensing techniques. This technique
records the spatial and spectral information of the object under study. Consequently, it has …

This paper reports on a model-assisted bundle adjustment (BA) framework in which visually-
derived features are fused with an underlying three-dimensional (3D) mesh provided a …