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This paper proposes a method for jointly estimating road layout and segmenting urban scenes semantically by applying a relative location prior. The proposed method is based on the conjecture that some relevant elements in urban environments tend to be located in a predictable manner. This belief can be modeled as a location prior to help a segmentation algorithm infer latent labels in images more...
This paper proposes a method of reconstructing a scalar field by adaptively choosing sampling locations and using the measurements obtained from those locations to reconstruct an estimate of the underlying field using Gaussian process regression. Spreading sampling points evenly over the field may not always be effective if the field is not uniformly distributed and the maximum number of measurements...
This paper addresses the development of an unmanned surface vehicle (USV) system by Team Angry‐Nerds from KAIST for the inaugural Maritime RobotX Challenge competition, which was held on October 20‐26, 2014, in Marina Bay, Singapore. The USV hardware was developed on a catamaran platform by integrating various system components, including propulsion, sensors, computer, power, and emergency systems...
This paper proposes a method to solve the image segmentation problem effectively by applying local spatial relations. The proposed method is based on the conjecture that spatially neighboring objects have a higher probability of relating each other than nonadjacent objects. Using depth information from 3D lidar, spatial contextual information between image segments is obtained. This information is...
This paper addresses the three-dimensional (3D) reconstruction of a floating structure with an unmanned surface vehicle (USV). Onboard lidar and sonar sensors are employed to collect a volumetric point cloud of the structure both above and below the waterline. These measurements are obtained in the vehicle-fixed frame; thus, for successful 3D reconstruction, precision estimation of trajectory and...
With an interest in advanced marine propulsion systems, much research has been done on mimicking fish-like locomotion using flapping fins. This study aims to optimize the swimming pattern of fish-like locomotion based on hierarchical reinforcement learning. A simplified carangiform fish model is employed and a segmented tail motion is learned by Q-learning to maximize the average forward velocity...
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