Now showing items 1-10 of 37
Visually Augmented Navigation for Autonomous Underwater Vehicles
(IEEE, 2008-04)
As autonomous underwater vehicles (AUVs) are becoming routinely used in an exploratory context for ocean science, the goal of visually augmented navigation (VAN) is to improve the near-seafloor navigation precision of such ...
An Overview of AUV Algorithms Research and Testbed at the University of Michigan
(IEEE, 2008-10-13)
This paper provides a general overview of the autonomous underwater vehicle (AUV) research projects being pursued within the Perceptual Robotics Laboratory (PeRL) at the University of Michigan. Founded in 2007, PeRL's ...
Advances in Decentralized Single-Beacon Acoustic Navigation for Underwater Vehicles: Theory and Simulation
(IEEE, 2010-09-1)
This paper reports the theory and implementation
of a decentralized navigation system that enables simultaneous
single-beacon navigation of multiple underwater vehicles. In
single-beacon navigation, each vehicle uses ranges ...
Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters
(SAGE, 2006-12)
This paper describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of underwater vehicles while exploiting the inertial sensor ...
Toward a Platform-Independent Acoustic Communications and Navigation System for Underwater Vehicles
(IEEE, 2009-10-26)
This paper presents a platform-independent
acoustic communication (Acomms) system that enables multiple
nodes (any combination of underwater vehicles, surface
ships, and fixed beacons) to simultaneously exchange data
and ...
Pose-graph Visual SLAM with Geometric Model Selection for Autonomous Underwater Ship Hull Inspection
(IEEE, 2009-10-10)
This paper reports the application of vision based
simultaneous localization and mapping (SLAM) to the problem
of autonomous ship hull inspection by an underwater
vehicle. The goal of this work is to automatically map ...
An Overview of Autonomous Underwater Vehicle Research and Testbed at PeRL
(Marine Technology Society, 2009)
This article provides a general overview of the autonomous underwater vehicle (AUV) research thrusts being pursued within the Perceptual Robotics Laboratory (PeRL) at the University of Michigan. Founded in 2007, PeRL’s ...
Exactly Sparse Extended Information Filters for Feature-Based SLAM
(SAGE, 2007-04)
Recent research concerning the Gaussian canonical form for Simultaneous Localization and Mapping (SLAM) has given rise to a handful of algorithms that attempt to solve the SLAM scalability problem for arbitrarily large ...
Initial Results in Underwater Single Image Dehazing
(IEEE, 2010-09-20)
As light is transmitted from subject to observer it is absorbed and scattered by the medium it passes through. In mediums with large suspended particles, such as fog or turbid water, the effect of scattering can drastically ...
Preliminary Deep Water Results in Single-Beacon One-Way-Travel-Time Acoustic Navigation for Underwater Vehicles
(IEEE, 2009-10-10)
This paper reports the development and experimental
evaluation of a novel navigation system for underwater
vehicles that employs Doppler sonar, synchronous clocks, and
acoustic modems to achieve simultaneous acoustic ...