Related papers: 2D Forward Looking Sonar Simulation with Ground Ec…
Recent successes suggest that an image can be manipulated by a text prompt, e.g., a landscape scene on a sunny day is manipulated into the same scene on a rainy day driven by a text input "raining". These approaches often utilize a…
Methods for source detection in high noise environments are important for single-photon emission computed tomography (SPECT) medical imaging and especially crucial for homeland security applications, which is our main interest. In the…
In this thesis, we leverage monocular cameras on aerial robots to predict depth and semantic maps in low-altitude unstructured environments. We propose a joint deep-learning architecture, named Co-SemDepth, that can perform the two tasks…
Monocular depth estimation is a crucial task in computer vision. While existing methods have shown impressive results under standard conditions, they often face challenges in reliably performing in scenarios such as low-light or rainy…
In this paper we present a novel simulation technique for generating high quality images of any predefined resolution. This method can be used to synthesize sonar scans of size equivalent to those collected during a full-length mission,…
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…
Shading-based approaches like Photometric Stereo assume that the image formation model can be effectively optimized for the scene normals. However, in murky water this is a very challenging problem. The light from artificial sources is not…
We introduce SoundSpaces 2.0, a platform for on-the-fly geometry-based audio rendering for 3D environments. Given a 3D mesh of a real-world environment, SoundSpaces can generate highly realistic acoustics for arbitrary sounds captured from…
Critical maritime infrastructure increasingly demands situational awareness both above and below the surface, yet existing ''seabed-to-sky'' mapping pipelines either rely on GNSS (vulnerable to shadowing/spoofing) or expensive bathymetric…
Underwater monocular SLAM is a challenging problem with applications from autonomous underwater vehicles to marine archaeology. However, existing underwater SLAM methods struggle to produce maps with high-fidelity rendering. In this paper,…
In this paper, we present SonarSplat, a novel Gaussian splatting framework for imaging sonar that demonstrates realistic novel view synthesis and models acoustic streaking phenomena. Our method represents the scene as a set of 3D Gaussians…
We study imaging with an array of sensors that probes a medium with single frequency electromagnetic waves and records the scattered electric field. The medium is known and homogenous except for some small and penetrable inclusions. The…
Sidescan sonar is a small and cost-effective sensing solution that can be easily mounted on most vessels. Historically, it has been used to produce high-definition images that experts may use to identify targets on the seafloor or in the…
Underwater image enhancement, as a pre-processing step to improve the accuracy of the following object detection task, has drawn considerable attention in the field of underwater navigation and ocean exploration. However, most of the…
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…
Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…
In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection…
Subsea images measured by the side scan sonars (SSSs) are necessary visual data in the process of deep-sea exploration by using the autonomous underwater vehicles (AUVs). They could vividly reflect the topography of the seabed, but usually…
We are witnessing a revolution in conditional image synthesis with the recent success of large scale text-to-image generation methods. This success also opens up new opportunities in controlling the generation and editing process using…
Depth cameras are an interesting modality for capturing vital signs such as respiratory rate. Plenty approaches exist to extract vital signs in a controlled setting, but in order to apply them more flexibly for example in multi-camera…