Real-Time Dense 3D Mapping of Underwater Environments

1 code implementation • 5 Apr 2023 • Weihan Wang, Bharat Joshi, Nathaniel Burgdorfer, Konstantinos Batsos, Alberto Quattrini Li, Philippos Mordohai, Ioannis Rekleitis

To address this problem, we propose to use SVIn2, a robust VIO method, together with a real-time 3D reconstruction pipeline.

3D Reconstruction

SM/VIO: Robust Underwater State Estimation Switching Between Model-based and Visual Inertial Odometry

no code implementations • 4 Apr 2023 • Bharat Joshi, Hunter Damron, Sharmin Rahman, Ioannis Rekleitis

This paper addresses the robustness problem of visual-inertial state estimation for underwater operations.

High Definition, Inexpensive, Underwater Mapping

1 code implementation • 10 Mar 2022 • Bharat Joshi, Marios Xanthidis, Sharmin Rahman, Ioannis Rekleitis

In this paper we present a complete framework for Underwater SLAM utilizing a single inexpensive sensor.

Vocal Bursts Intensity Prediction

DeepURL: Deep Pose Estimation Framework for Underwater Relative Localization

1 code implementation • 11 Mar 2020 • Bharat Joshi, Md Modasshir, Travis Manderson, Hunter Damron, Marios Xanthidis, Alberto Quattrini Li, Ioannis Rekleitis, Gregory Dudek

In this paper, we propose a real-time deep learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image.

Image-to-Image Translation Pose Estimation +1

Experimental Comparison of Open Source Visual-Inertial-Based State Estimation Algorithms in the Underwater Domain

no code implementations • 3 Apr 2019 • Bharat Joshi, Sharmin Rahman, Michail Kalaitzakis, Brennan Cain, James Johnson, Marios Xanthidis, Nare Karapetyan, Alan Hernandez, Alberto Quattrini Li, Nikolaos Vitzilaios, Ioannis Rekleitis

A plethora of state estimation techniques have appeared in the last decade using visual data, and more recently with added inertial data.

Robotics