Related papers: Predictive 3D Sonar Mapping of Underwater Environm…
We propose a novel approach to handling the ambiguity in elevation angle associated with the observations of a forward looking multi-beam imaging sonar, and the challenges it poses for performing an accurate 3D reconstruction. We utilize a…
3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…
Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due to poor visibility and geometric constraints, while sonar is…
We present a technique for dense 3D reconstruction of objects using an imaging sonar, also known as forward-looking sonar (FLS). Compared to previous methods that model the scene geometry as point clouds or volumetric grids, we represent…
In this work we present a novel method for reconstructing 3D surfaces using a multi-beam imaging sonar. We integrate the intensities measured by the sonar from different viewpoints for fixed cell positions in a 3D grid. For each cell we…
Underwater perception and 3D surface reconstruction are challenging problems with broad applications in construction, security, marine archaeology, and environmental monitoring. Treacherous operating conditions, fragile surroundings, and…
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…
Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which…
We propose a novel data-driven approach for high-resolution bathymetric reconstruction from sidescan. Sidescan sonar (SSS) intensities as a function of range do contain some information about the slope of the seabed. However, that…
Hyperspectral imaging has been increasingly used for underwater survey applications over the past years. As many hyperspectral cameras work as push-broom scanners, their use is usually limited to the creation of photo-mosaics based on a…
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 3D object detection remains one of the most challenging frontiers in computer vision, where traditional approaches struggle with the harsh acoustic environment and scarcity of training data. While deep learning has revolutionized…
Recent advances in differentiable rendering, which allow calculating the gradients of 2D pixel values with respect to 3D object models, can be applied to estimation of the model parameters by gradient-based optimization with only 2D…
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.…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
Sonar is often the only modality suitable for high-resolution imaging underwater due to light attenuation and turbidity. Forward-looking imaging sonar provides measurements over range and horizontal angle but collapses vertical structure…
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…
Combining synthetic aperture sonar (SAS) imagery with optical images for underwater object classification has the potential to overcome challenges such as water clarity, the stability of the optical image analysis platform, and strong…
Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwater SLAM system that fuses a stereo…
Underwater intervention is an important capability in several marine domains, with numerous industrial, scientific, and defense applications. However, existing perception systems used during intervention operations rely on data from optical…