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Acoustic sonar imaging systems are widely used for underwater surveillance in both civilian and military sectors. However, acquiring high-quality sonar datasets for training Artificial Intelligence (AI) models confronts challenges such as…
We consider the problem of optimizing neural implicit surfaces for 3D reconstruction using acoustic images collected with drifting sensor poses. The accuracy of current state-of-the-art 3D acoustic modeling algorithms is highly dependent on…
Many countries in the world are contaminated with landmines. Several thousand casualties occur every year. Although there are certain types of mines that can be detected from a safe stand-off position with tools, humanitarian demining is…
Synthetic aperture sonar (SAS) measures a scene from multiple views in order to increase the resolution of reconstructed imagery. Image reconstruction methods for SAS coherently combine measurements to focus acoustic energy onto the scene.…
This paper introduces Synthetic Enclosed Echoes (SEE), a novel dataset designed to enhance robot perception and 3D reconstruction capabilities in underwater environments. SEE comprises high-fidelity synthetic sonar data, complemented by a…
The problem of signal detection using a flexible and general model is considered. Due to applicability and flexibility of sparse signal representation and approximation, it has attracted a lot of attention in many signal processing areas.…
Autonomous navigation in underwater environments presents challenges due to factors such as light absorption and water turbidity, limiting the effectiveness of optical sensors. Sonar systems are commonly used for perception in underwater…
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…
Generating 3D point cloud (PC) data from noisy sonar measurements is a problem that has potential applications for bathymetry mapping, artificial object inspection, mapping of aquatic plants and fauna as well as underwater navigation and…
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,…
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…
Circular Synthetic Aperture Sonar (CSAS) provides a 360{\deg} azimuth view of the seabed, surpassing the limited aperture and mono-view image of conventional side-scan SAS. This makes CSAS a valuable tool for target recognition in mine…
This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike traditional sonar, which produces 2D images…
Synthetic aperture radar (SAR) is a tomographic sensor that measures 2D slices of the 3D spatial Fourier transform of the scene. In many operational scenarios, the measured set of 2D slices does not fill the 3D space in the Fourier domain,…
High resolution underwater 3D scene reconstruction is crucial for various applications, including construction, infrastructure maintenance, monitoring, exploration, and scientific investigation. Prior work has leveraged the complementary…
The aftermath of air raids can still be seen for decades after the devastating events. Unexploded ordnance (UXO) is an immense danger to human life and the environment. Through the assessment of wartime images, experts can infer the…
Airborne 3D imaging using ultrasound is a promising sensing modality for robotic applications in harsh environments. Over the last decade, several high-performance systems have been proposed in the literature. Most of these sensors use a…
In this paper, we address the challenging problem of data association for underwater SLAM through a novel method for sonar image correspondence using learned features. We introduce SONIC (SONar Image Correspondence), a pose-supervised…
Object detection in sonar images is a key technology in underwater detection systems. Compared to natural images, sonar images contain fewer texture details and are more susceptible to noise, making it difficult for non-experts to…
Object detection in sonar images is crucial for underwater robotics applications including autonomous navigation and resource exploration. However, complex noise patterns inherent in sonar imagery, particularly speckle, reverberation, and…