Related papers: A New Framework for Synthetic Aperture Sonar Micro…
Under the sea, visible spectrum cameras have limited sensing capacity, being able to detect objects only in clear water, but in a constrained range. Considering any sea water condition, sonars are more suitable to support autonomous…
This study explores the potential of the Ping 360 sonar device, primarily used for navigation, in detecting complex underwater obstacles. The key motivation behind this research is the device's affordability and open-source nature, offering…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is frequently deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, using side-scan images to perform simultaneous localization and…
The goal of synthetic aperture imaging is to estimate the reflectivity of a remote region of interest by processing data gathered with a moving sensor which emits periodically a signal and records the backscattered wave. We introduce and…
Accurate 3D volumetric mapping is critical for autonomous underwater vehicles operating in obstacle-rich environments. Vision-based perception provides high-resolution data but fails in turbid conditions, while sonar is robust to lighting…
Underwater object detection using sonar imagery has become a critical and rapidly evolving research domain within marine technology. However, sonar images are characterized by lower resolution and sparser features compared to optical…
Synthetic aperture sonar (SAS) requires precise positional and environmental information to produce well-focused output during the image reconstruction step. However, errors in these measurements are commonly present resulting in defocused…
Ground penetrating radar mounted on micro aerial vehicle (MAV) is a promising tool to assist humanitarian landmine clearance. However, the quality of synthetic aperture radar images depends on accurate and precise motion estimation of the…
Side-scan sonar (SSS) images are susceptible to motion-induced geometric distortion, which degrades their reliability for seabed interpretation and downstream tasks. Existing correction methods either exploit image-domain consistency…
Synthetic aperture radar (SAR) image change detection is a critical yet challenging task in the field of remote sensing image analysis. The task is non-trivial due to the following challenges: Firstly, intrinsic speckle noise of SAR images…
Unmanned aerial vehicles (UAV) often rely on GPS for navigation. GPS signals, however, are very low in power and easily jammed or otherwise disrupted. This paper presents a method for determining the navigation errors present at the…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
Synthetic aperture radar (SAR) can measure the phase with antenna and microwave, which cannot be directly extended to visible light imaging due to phase lost. In this letter, we reported an active remote sensing with visible light via…
Synthetic Aperture Sonar (SAS) surveys produce imagery with large regions of transition between seabed types. Due to these regions, it is difficult to label and segment the imagery and, furthermore, challenging to score the image…
This thesis is concerned with problems related to Synthetic Aperture Radar (SAR). The thesis is structured as follows: The first chapter explains what SAR is, and the physical and mathematical background is illuminated. The following…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and…
In the field of deep-sea exploration, sonar is presently the only efficient long-distance sensing device. The complicated underwater environment, such as noise interference, low target intensity or background dynamics, has brought many…
Sonar images are relevant for advancing underwater exploration, autonomous navigation, and ecosystem monitoring. However, the progress depends on data availability. The scarcity of publicly available, well-annotated sonar image datasets…
We develop an efficient algorithm for Synthetic Aperture Sonar imaging based on the one-way wave equations. The algorithm utilizes the operator-splitting method to integrate the one-way wave equations. The well-posedness of the one-way wave…
We propose a novel method to generate underwater object imagery that is acoustically compliant with that generated by side-scan sonar using the Unreal Engine. We describe the process to develop, tune, and generate imagery to provide…