Bioinspired soft robots for deep-sea exploration
The deep ocean, Earth's untouched expanse, presents immense challenges for exploration
due to its extreme pressure, temperature, and darkness. Unlike traditional marine robots that …
due to its extreme pressure, temperature, and darkness. Unlike traditional marine robots that …
Autonomous underwater vehicles: Localization, navigation, and communication for collaborative missions
J González-García, A Gómez-Espinosa… - Applied sciences, 2020 - mdpi.com
Development of Autonomous Underwater Vehicles (AUVs) has permitted the automatization
of many tasks originally achieved with manned vehicles in underwater environments. Teams …
of many tasks originally achieved with manned vehicles in underwater environments. Teams …
A review of marine geomorphometry, the quantitative study of the seafloor
Geomorphometry, the science of quantitative terrain characterization, has traditionally
focused on the investigation of terrestrial landscapes. However, the dramatic increase in the …
focused on the investigation of terrestrial landscapes. However, the dramatic increase in the …
Active Bathymetric SLAM for autonomous underwater exploration
Bathymetric simultaneous localization and mapping (SLAM) methods have shown their
potential in deep-sea navigation and mapping for autonomous underwater vehicles (AUVs) …
potential in deep-sea navigation and mapping for autonomous underwater vehicles (AUVs) …
Multibeam 3D underwater SLAM with probabilistic registration
This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping
(SLAM) using a multibeam echosounder to produce high consistency underwater maps. The …
(SLAM) using a multibeam echosounder to produce high consistency underwater maps. The …
Improving self-consistency in underwater mapping through laser-based loop closure
T Hitchcox, JR Forbes - IEEE Transactions on Robotics, 2023 - ieeexplore.ieee.org
Accurate, self-consistent bathymetric maps are needed to monitor changes in subsea
environments and infrastructure. These maps are increasingly collected by underwater …
environments and infrastructure. These maps are increasingly collected by underwater …
A featureless approach to efficient bathymetric SLAM using distributed particle mapping
S Barkby, SB Williams, O Pizarro… - Journal of Field …, 2011 - Wiley Online Library
This paper presents an approach to simultaneous localization and mapping (SLAM) suitable
for efficient bathymetric mapping that does not require explicit identification, tracking, or …
for efficient bathymetric mapping that does not require explicit identification, tracking, or …
A self‐consistent bathymetric mapping algorithm
The achievable accuracy of bathymetric mapping in the deep ocean using robotic systems is
most often limited by the available guidance or navigation information used to combine the …
most often limited by the available guidance or navigation information used to combine the …
Online stochastic variational gaussian process mapping for large-scale bathymetric slam in real time
Rao-Blackwellized particle filter (RBPF) SLAM solutions with Gaussian Process (GP) maps
can both maintain multiple hypotheses of a vehicle pose estimate and perform implicit data …
can both maintain multiple hypotheses of a vehicle pose estimate and perform implicit data …
Bathymetric particle filter SLAM using trajectory maps
S Barkby, SB Williams, O Pizarro… - … International journal of …, 2012 - journals.sagepub.com
We present an efficient and featureless approach to bathymetric simultaneous localization
and mapping (SLAM) that utilizes a Rao–Blackwellized particle filter (RBPF) and Gaussian …
and mapping (SLAM) that utilizes a Rao–Blackwellized particle filter (RBPF) and Gaussian …