29 Sep 2023

Low Size, Weight, Power, and Cost (SWaP-C) Payload for Autonomous Navigation and Mapping on an Unmanned Ground Vehicle

Abstract: Autonomous navigation and unknown environment exploration with an unmanned ground vehicle (UGV) is extremely challenging. This report investigates a mapping and exploration solution utilizing low size, weight, power, and cost payloads. The platform presented here leverages simultaneous localization and mapping to efficiently explore unknown areas by finding navigable routes. The solution utilizes a diverse sensor payload that includes wheel encoders, 3D lidar, and red-green-blue and depth cameras. The main goal of this effort is to leverage path planning and navigation for mapping and exploration with a UGV to produce an accurate 3D map. The solution provided also leverages the Robot Operating System

18 Nov 2021

ROS Integrated Object Detection for SLAM in Unknown, Low-Visibility Environments

Abstract: Integrating thermal (or infrared) imagery on a robotics platform allows Unmanned Ground Vehicles (UGV) to function in low-visibility environments, such as pure darkness or low-density smoke. To maximize the effectiveness of this approach we discuss the modifications required to integrate our low-visibility object detection model on a Robot Operating System (ROS). Furthermore, we introduce a method for reporting detected objects while performing Simultaneous Localization and Mapping (SLAM) by generating bounding boxes and their respective transforms in visually challenging environments.

14 Apr 2020

PUBLICATION NOTIFICATION: Coincidence Processing of Photon-Sensitive Mapping Lidar Data

 Link: http://dx.doi.org/10.21079/11681/35599 Report Number: ERDC/GRL TR-20-1Title: Coincidence Processing of Photon-Sensitive Mapping Lidar DataBy Christian Marchant, Ryan Kirkpatrick, and David OberApproved for Public Release; Distribution is Unlimited February 2020Abstract: Photon-sensitive mapping lidar systems are able to image at greater