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– We describe recent results obtained with AQUA, a mobile robot capable of swimming, walking and amphibious operation. Designed to rely primarily on visual sensors, the AQUA robot uses vision to navigate underwater using servo-based guidance, and also to obtain high-resolution range scans of its local environment. This paper describes some of the pragmatic(More)
– This paper describes an underwater walking robotic system being developed under the name AQUA, the goals of the AQUA project, the overall hardware and software design, the basic hardware and sensor packages that have been developed, and some initial experiments. The robot is based on the RHex hexapod robot and uses a suite of sensing technologies,(More)
AQUA, an amphibious robot that swims via the motion of its legs rather than using thrusters and control surfaces for propulsion, can walk along the shore, swim along the surface in open water, or walk on the bottom of the ocean. The vehicle uses a variety of sensors to estimate its position with respect to local visual features and provide a global frame of(More)
New algorithms for the classical problem of fairing cubic spline curves and bicubic spline surfaces are presented. To fair a cubic spline curve or a bicubic spline surface with abnormal portions, the algorithms (automatically or interactively) identify thèbad' data points and replace them with new points produced by minimizing the strain energy of the new(More)
Stereo camera is a very important sensor for mobile robot localization and mapping. Its consecutive images can be used to estimate the location of the robot with respect to its environment. This estimate will be fused with location estimates from other sensors for a globally optimal location estimate. In the data fusion context, it is important to compute(More)
— We address the problem of globally consistent estimation of the trajectory of a robot arm moving in three dimensional space based on a sequence of binocular stereo images from a stereo camera mounted on the tip of the arm. Correspondence between 3D points from successive stereo camera positions is established through matching of 2D SIFT features in the(More)