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This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
In this paper, we propose a method to adapt a pre-trained deep-learning-based model for underwater acoustic localization to a new environment. We use unsupervised domain adaptation to improve the generalization performance of the model,…
An explicitly solvable model of sound sources detection and sound wave scattering by the lateral line of a fish or amphibian based on the theory of self-adjoint perturbations of the Laplace operator by arrays of additional boundary…
Accurately reconstructing a three-dimensional ocean sound speed field (3D SSF) is essential for various ocean acoustic applications, but the sparsity and uncertainty of sound speed samples across a vast ocean region make it a challenging…
We propose to use neural networks for simultaneous detection and localization of multiple sound sources in human-robot interaction. In contrast to conventional signal processing techniques, neural network-based sound source localization…
In this paper, an improved numerical solver to evaluate the time-dependent radiative transfer equation (RTE) for underwater optical wireless communications (UOWC) is investigated. The RTE evaluates the optical path-loss of light wave in an…
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…
We introduce a novel algorithm for online estimation of acoustic impulse responses (AIRs) which allows for fast convergence by exploiting prior knowledge about the fundamental structure of AIRs. The proposed method assumes that the…
The scattering of light observed through the turbid underwater channel is often regarded as the leading challenge when designing underwater electro-optical imaging systems. There have been many approaches to address the effects of…
Spatial sound field interpolation relies on suitable models to both conform to available measurements and predict the sound field in the domain of interest. A suitable model can be difficult to determine when the spatial domain of interest…
Radio source detection through conventional algorithms has been unreliable when trying to solve for large number of sources in the presence of low SINR and less number of snapshots. We address this by reformulating source detection as a…
Beam alignment is key in enabling millimeter wave and terahertz radios to achieve their capacity. Due to the use of large arrays in these systems, the common exhaustive beam scanning results in a substantial training overhead. Prior work…
The development of nonlinear optimization algorithms capable of performing reliably in the presence of noise has garnered considerable attention lately. This paper advocates for strategies to create noise-tolerant nonlinear optimization…
Audio-to-score alignment is a long-standing challenge in music information retrieval and arguably the most widely applicable alignment task for music research. Alignment algorithms match two versions of a piece of music, and for this to…
Despite there being clear evidence for top-down (e.g., attentional) effects in biological spatial hearing, relatively few machine hearing systems exploit top-down model-based knowledge in sound localisation. This paper addresses this issue…
Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…
A new algorithm is proposed for solving the three-dimensional scalar inverse problem of acoustic sounding in an inhomogeneous medium. The data for the algorithm are the complex amplitudes of the wave field measured outside the inhomogeneity…
Two subspace fitting approaches are proposed for wideband near-field localization. Unlike in conventional far-field systems, where distance and angle can be estimated separately, spherical wave propagation in near-field systems couples…
Compressive sensing (CS) has been applied to estimate the direction of arrival (DOA) in underwater acoustics. However, the key problem needed to be resolved in a {multipath} propagation environment is to suppress the interferences between…
Passive acoustics can provide a variety of capabilities with applications in oceanographic research and maritime situational awareness. In this paper, we develop a method for the navigation of autonomous underwater vehicles (AUVs) in…