Related papers: A rasterized ray-tracer pipeline for real-time, mu…

Traditional ultrasound simulators solve the wave equation to model pressure distribution fields, achieving high accuracy but requiring significant computational time and resources. To address this, ray tracing approaches have been…

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…

Imaging sonar produces clear images in underwater environments, independent of water turbidity and lighting conditions. The next generation 2D forward looking sonars are compact in size and able to generate high-resolution images which…

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…

Research on differentiable scene representations is consistently moving towards more efficient, real-time models. Recently, this has led to the popularization of splatting methods, which eschew the traditional ray-based rendering of…

Traditional ultrasound simulation methods solve wave equations numerically, achieving high accuracy but at substantial computational cost. Faster alternatives based on convolution with precomputed impulse responses remain relatively slow,…

We present a new sound rendering pipeline that is able to generate plausible sound propagation effects for interactive dynamic scenes. Our approach combines ray-tracing-based sound propagation with reverberation filters using robust…

With the rise of data-driven ultrasound imaging technologies, realistic simulation of ultrasound fields and radio-frequency data is becoming increasingly important. Accurate transducer characterization is crucial for realistic simulations.…

For autonomous navigation and robotic applications, sensing the environment correctly is crucial. Many sensing modalities for this purpose exist. In recent years, one such modality that is being used is in-air imaging sonar. It is ideal in…

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…

Ray tracing is a technique for generating an image by tracing the path of light through pixels in an image plane and simulating the effects of high-quality global illumination at a heavy computational cost. Because of the high computation…

Augmented Reality is a topic of foremost interest nowadays. Its main goal is to seamlessly blend virtual content in real-world scenes. Due to the lack of computational power in mobile devices, rendering a virtual object with high-quality,…

Ray tracing has long been the holy grail of real time rendering. This technique, commonly used for photo realism, simulates the physical behavior of light, at the cost of being computationally heavy. With the introduction of Nvidia RTX…

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…

Particle-based representations of radiance fields such as 3D Gaussian Splatting have found great success for reconstructing and re-rendering of complex scenes. Most existing methods render particles via rasterization, projecting them to…

In this paper, we detail the high-performance implementation of our spaceborne radar simulator for satellite oceanography. Our software simulates the sea surface and the signal to imitate, as far as possible, the measurement process,…

We present TraceFlow, a novel framework for high-fidelity rendering of dynamic specular scenes by addressing two key challenges: precise reflection direction estimation and physically accurate reflection modeling. To achieve this, we…

This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…

Simulating event streams from 3D scenes has become a common practice in event-based vision research, as it meets the demand for large-scale, high temporal frequency data without setting up expensive hardware devices or undertaking extensive…

2D cameras are often used in interactive systems. Other systems like gaming consoles provide more powerful 3D cameras for short range depth sensing. Overall, these cameras are not reliable in large, complex environments. In this work, we…