Related papers: A New Framework for Synthetic Aperture Sonar Micro…
Rapid developments in synthetic aperture (SA) systems, which generate a larger aperture with greater angular resolution than is inherently possible from the physical dimensions of a single sensor alone, are leading to novel research avenues…
Global Navigation Satellite Systems (GNSS) are a widely used technology for positioning and navigation. GNSS positioning relies on pseudorange measurements from satellites to receivers. A pseudorange is the apparent distance between two…
Having accurate localization capabilities is one of the fundamental requirements of autonomous robots. For underwater vehicles, the choices for effective localization are limited due to limitations of GPS use in water and poor environmental…
Scene reconstruction is an essential capability for underwater robots navigating in close proximity to structures. Monocular vision-based reconstruction methods are unreliable in turbid waters and lack depth scale information. Sonars are…
Synthetic aperture radar (SAR) is a day or night any-weather imaging modality that is an important tool in remote sensing. Most existing SAR image formation methods result in a maximum a posteriori image which approximates the reflectivity…
Error distribution analysis is an important assistant technology for the research of SINS(Strapdown Inertial Navigation System). Error distribution result can provide the contribution of different errors to final navigation error, which is…
The recent explosive growth of small satellite operations driven primarily from an academic or pedagogical need, has demonstrated the viability of commercial-off-the-shelf technologies in space. They have also leveraged and shown the need…
Synthetic Aperture Radar (SAR) provides all-weather, high-resolution imaging capabilities, but its unique imaging mechanism often requires expert interpretation, limiting its widespread applicability. Translating SAR images into more easily…
Real-time imaging sonar is crucial for underwater monitoring where optical sensing fails, but its use is limited by low uplink bandwidth and severe sonar-specific artifacts (speckle, motion blur, reverberation, acoustic shadows) affecting…
Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…
The performance of inertial navigation systems is largely dependent on the stable flow of external measurements and information to guarantee continuous filter updates and bind the inertial solution drift. Platforms in different operational…
Synthetic Aperture Radar (SAR) utilizes the movement of the radar antenna over a specific area of interest to achieve higher spatial resolution imaging. In this paper, we aim to investigate the realization of SAR imaging for a stationary…
Cyber-resilience is an increasing concern in developing autonomous navigation solutions for marine vessels. This paper scrutinizes cyber-resilience properties of marine navigation through a prism with three edges: multiple sensor…
In recent years, compressed sensing (CS) has been applied in the field of synthetic aperture radar (SAR) imaging and shows great potential. The existing models are, however, based on application of the sensing matrix acquired by the exact…
Filter-based visual inertial navigation system (VINS) has attracted mobile-robot researchers for the good balance between accuracy and efficiency, but its limited mapping quality hampers long-term high-accuracy state estimation. To this…
High resolution imaging is achieved using increasingly larger apertures and successively shorter wavelengths. Optical aperture synthesis is an important high-resolution imaging technology used in astronomy. Conventional long baseline…
Synthetic aperture sonar (SAS) reconstruction requires recovering both the spatial distribution of acoustic scatterers and their direction-dependent response. Time-domain backprojection is the most common 3D SAS reconstruction algorithm,…
The paper describes the image acquisition system able to capture images in two separated bands of light, used to underwater autonomous navigation. The channels are: the visible light spectrum and near infrared spectrum. The characteristics…
We introduce a multi-sensor navigation system for autonomous surface vessels (ASV) intended for water-quality monitoring in freshwater lakes. Our mission planner uses satellite imagery as a prior map, formulating offline a mission-level…
Underwater target detection using active sonar constitutes a critical research area in marine sciences and engineering. However, traditional signal processing methods face significant challenges in complex underwater environments due to…