Highlights• ML algorithms can classify water and sea ice characteristics in the coastal Arctic.• Spring freshet runoff over sea ice is optically distinct from surface melt ponds.• Time-series analyses of satellite ima...
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Reliable simultaneous localization and mapping (SLAM) algorithms are necessary for safety-critical autonomous navigation. In the communication-constrained multi-agent setting, navigation systems increasingly use point...
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Turbo equalizers have been exploited for underwater wireless communication due to their excellent practical performance. As the equalizer is adaptive, it is possible to take advantage of the soft information available...
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ISBN:
(纸本)9781467350518
Turbo equalizers have been exploited for underwater wireless communication due to their excellent practical performance. As the equalizer is adaptive, it is possible to take advantage of the soft information available from the decoder in the adaptation process. In this paper, we consider a method to do this and compare it with the use of soft information in feedback, which is a method that has been considered in the past. Data from the KAM11 experiment demonstrates that using soft information in adaptation can improve performance over using it only in feedback. We also consider combining these different approaches and how this affects performance.
In the context of three-row bathymetric sidescan sonars, a coherent source direction estimator (CSDE) is proposed to resolve two sources from different direction. This method is compared with the ESPRIT-based approach...
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In the context of three-row bathymetric sidescan sonars, a coherent source direction estimator (CSDE) is proposed to resolve two sources from different direction. This method is compared with the ESPRIT-based approach using different sonar models. The simulations show that CSDE works very well for highly coherent sources and at the signal-to-noise ratio above 10dB while the ESPRIT-based method is quite robust for the incoherent source signal model. In addition, CSDE gives the source time series estimation on the basis of the direction estimation as well.
We have created a new image analysis pipeline to reprocess images taken by the Near Earth Asteroid Tracking survey and have applied it to ten nights of observations. This work is the first large-scale reprocessing of ...
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The current approach to exploring and monitoring complex underwater ecosystems, such as coral reefs, is to conduct surveys using diver-held or static cameras, or deploying sensor buoys. These approaches often fail to ...
The current approach to exploring and monitoring complex underwater ecosystems, such as coral reefs, is to conduct surveys using diver-held or static cameras, or deploying sensor buoys. These approaches often fail to capture the full variation and complexity of interactions between different reef organisms and their habitat. The CUREE platform presented in this paper provides a unique set of capabilities in the form of robot behaviors and perception algorithms to enable scientists to explore different aspects of an ecosystem. Examples of these capabilities include low-altitude visual surveys, soundscape surveys, habitat characterization, and animal following. We demonstrate these capabilities by describing two field deployments on coral reefs in the US Virgin Islands. In the first deployment, we show that CUREE can identify the preferred habitat type of snapping shrimp in a reef through a combination of a visual survey, habitat characterization, and a soundscape survey. In the second deployment, we demonstrate CUREE's ability to follow arbitrary animals by separately following a barracuda and stingray for several minutes each in midwater and benthic environments, respectively.
This paper presents the novel insight that the SLAM information matrix is exactly sparse in a delayed-state framework. Such a framework is used in view-based representations of the environment which rely upon scan-mat...
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Successful applications of complex vision-based behaviours underwater have lagged behind progress in terrestrial and aerial domains. This is largely due to the degraded image quality resulting from the physical phenom...
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We present a novel POMDP problem formulation for a robot that must autonomously decide where to go to collect new and scientifically relevant images given a limited ability to communicate with its human operator. From...
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