• Deep learning based keypoint rejection system for underwater visual ego-motion estimation 

      Leonardi, Marco; Fiori, Luca; Stahl, Annette (Peer reviewed; Journal article, 2020)
      Most visual odometry (VO) and visual simultaneous localization and mapping (VSLAM) systems rely heavily on robust keypoint detection and matching. With regards to images taken in the underwater environment, phenomena like ...
    • Form Closure For Fully Actuated and Robust Obstacle-Aided locomotion in Snake Robots 

      Løwer, Jostein; Gravdahl, Irja; Varagnolo, Damiano; Stavdahl, Øyvind (Peer reviewed; Journal article, 2023)
      In this letter we adapt the theory of form closure to define the form closed region: The subset of a snake robot's configuration space for which the constraints imposed by the obstacles in its environment render the system ...
    • Path Planning for UGVs Based on Traversability Hybrid A* 

      Thoresen, Marius; Nielsen, Niels Hygum; Mathiassen, Kim; Pettersen, Kristin Ytterstad (Peer reviewed; Journal article, 2021)
      In this letter, a new method of path planning for unmanned ground vehicles (UGVs) on terrain is developed. For UGVs moving on terrain, path traversability and collision avoidance are important factors. If traversability ...