Sharad Nagappa

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—This paper proposes the use of the Hellinger distance in evaluating the localisation error in the OSPA metric. The Hellinger distance provides a measure of the difference between two distributions and is used here to measure the difference between the true and estimated targets where the true and estimated single-target states are characterised by Gaussian(More)
— This paper presents a modular localization and mapping system for intervention autonomous underwater vehicles working in semi-structured environments with known landmarks. The system is divided in several modules to make it as generic as possible. Two visual detection algorithms can be used to compute the position of known landmarks by comparing the(More)
— Two-dimensional forward-looking sonars such as Blueview or DIDSON are becoming a standard sensor in both remotely-operated and autonomous underwater vehicles. Registration of imagery obtained from this sensors is of great interest since it constitutes a key step in several applications like the generation of acoustic mosaics or the extraction of vehicle(More)
An Underwater Vehicle Application T he random finite-set formulation for multiobject estimation provides a means of estimating the number of objects in cluttered environments with missed detections within a unified probabilistic framework. This methodology is now becoming the dominant mathematical framework within the sensor fusion community for developing(More)
— AUVs have experimentally done the first steps to solve basic intervention tasks. First results have been promising in the task of retrieving an object from the seabed. In this paper we extend the complexity of the task with the help of a Learning by Demonstration (LbD) approach. An extension of a LbD algorithm to learn the pose and orientation of the(More)