Abstract: A computer includes a processor and a memory, and the memory stores instructions executable by the processor to generate a set of points from a measurement scan obtained by a lidar sensor and to generate an expected termination distance of the set of points based on a neural implicit representation of the set of points. The instructions may additionally be to compute a loss function that includes a relatively low margin correlated with the variance or standard deviation of a training distribution centered at a learned point of the set of points based on the expected termination distance of the learned point, the learned point being learned by the neural implicit representation. The instructions may additionally be to generate a keyframe from the set of points and to generate a pose of the lidar sensor based on the keyframe.

Abstract: A computer includes a processor and a memory, and the memory stores instructions executable by the processor to jointly train a geometric NeRF multilayer perceptron (MLP) and a color NeRF MLP to model a scene using an occupancy grid map, camera data of the scene from a camera, and lidar data of the scene from a lidar; supervise the geometric NeRF MLP with the lidar data during the joint training; and supervise the color NeRF MLP with the camera data during the joint training. The geometric NeRF MLP is a neural radiance field modeling a geometry of the scene, and the color NeRF MLP is a neural radiance field modeling colors of the scene.

Abstract: A system includes a plurality of movable members and an electromagnetic wave probe disposed within at least one movable member among the plurality of movable members. The actuation system is coupled to the plurality of movable members. The actuation system is configured to actuate and removably position the plurality of movable members to form a wave guide around at least a portion of an outer peripheral surface of the pipe assembly and position the electromagnetic wave probe proximate to the portion of the outer peripheral surface of the pipe assembly.

Abstract: A system includes a plurality of movable members and an electromagnetic wave probe disposed within at least one movable member among the plurality of movable members. The actuation system is coupled to the plurality of movable members. The actuation system is configured to actuate and removably position the plurality of movable members to form a wave guide around at least a portion of an outer peripheral surface of the pipe assembly and position the electromagnetic wave probe proximate to the portion of the outer peripheral surface of the pipe assembly.