Brennan Cain

Computer Engineering Student and Robotics Researcher

Category: Papers

Fiducial Markers for Pose Estimation

Download Paper Robust localization is critical for the navigation and control of mobile robots. Global Navigation Satellite Systems (GNSS), Visual-Inertial Odometry (VIO), and Simultaneous Localization and Mapping (SLAM) offer different methods for achieving this goal. In some cases however, these methods may not be available or provide high enough accuracy. In such cases, these methods

A marsupial robotic system for surveying and inspection of freshwater ecosystems

Download the paper Abstract – Freshwater ecosystems are vast areas that are constantly changing and evolving. To maintain the ecosystem as well as the structures located close to bodies of water, frequent monitoring is required. Although dangerous and time consuming, manual operations are the conventional way of monitoring such areas. Recently, Autonomous Surface Vehicles (ASVs) have

Experimental Comparison of Open Source Visual-Inertial-Based State Estimation Algorithms in the Underwater Domain

Download the paper Abstract – A plethora of state estimation techniques have appeared in the last decade using visual data, and more recently with added inertial data. Datasets typically used for evaluation include indoor and urban environments, where supporting videos have shown impressive performance. However, such techniques have not been fully evaluated in challenging conditions,

PynqCopter – An Open-source FPGA Overlay for UAVs

Download my Paper Abstract—FPGAs are a computing platform that excels in performing signal processing, control, networking, and security in a high performance and power efficient manner. This makes FPGAs attractive for unmanned aerial vehicles (UAVs) especially as they require smaller payloads and are processing multiple high data rate input sources (e.g. cameras, lidar, radar, gyroscopes,