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The lack of large-scale real raw image denoising dataset gives rise to challenges on synthesizing realistic raw image noise for training denoising models. However, the real raw image noise is contributed by many noise sources and varies…

Imaging through scattering is a pervasive and difficult problem in many biological applications. The high background and the exponentially attenuated target signals due to scattering fundamentally limits the imaging depth of fluorescence…

Through-wall synthetic aperture radar (SAR) imaging is of significant interest for security purposes, in particular when using multi-static SAR systems consisting of multiple distributed radar transmitters and receivers to improve…

We study ground-penetrating synthetic aperture radar measurements of scattering by targets located below a rough air-soil interface. By considering the inherent space/angle limitations of this imaging modality, we introduce a simplified…

The role of sound in the dynamics of mesoscale systems is typically neglected, since frequently the associated time scales are much smaller than all the other time scales of interest. However, for sufficiently small objects embedded in a…

If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…

Accurate estimates of salmon escapement - the number of fish migrating upstream to spawn - are key data for conservation and fishery management. Existing methods for salmon counting using high-resolution imaging sonar hardware are…

A two-dimensional water wave model based on conformal mapping is presented. The model is exact in the sense that it does not rely on truncated series expansions, nor suffer any numerical diffusion. Additionally, it is computationally highly…

Sound, as a crucial sensory channel, plays a vital role in improving the reality and immersiveness of a virtual environment, following only vision in importance. Sound can provide important clues such as sound directionality and spatial…

In the field of deep-sea exploration, sonar is presently the only efficient long-distance sensing device. The complicated underwater environment, such as noise interference, low target intensity or background dynamics, has brought many…

Differentiable 3D-Gaussian splatting (GS) is emerging as a prominent technique in computer vision and graphics for reconstructing 3D scenes. GS represents a scene as a set of 3D Gaussians with varying opacities and employs a computationally…

Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. In this work, we propose D3RoMa, a…

This paper proposes a vision-in-the-loop simulation environment for deep monocular pose estimation of a UAV operating in an ocean environment. Recently, a deep neural network with a transformer architecture has been successfully trained to…

Imaging through opaque, highly scattering walls is a long sought after capability with potential applications in a variety of fields. The use of wavefront shaping to compensate for scattering has brought a renewed interest as a potential…

This paper presents a novel software-based approach to stabilizing the acoustic images for in-air 3D sonars. Due to uneven terrain, traditional static beamforming techniques can be misaligned, causing inaccurate measurements and imaging…

Detecting novel objects without class information is not trivial, as it is difficult to generalize from a small training set. This is an interesting problem for underwater robotics, as modeling marine objects is inherently more difficult in…

Many aspects of the design trade-off of a space-based instrument and its performance can best be tackled through simulations of the expected observations. The complex interplay of various noise sources in the course of the observations make…

Shadow moir\'e techniques are developed for optical waves to image 3D objects to determine their surface topology. In this paper we prove experimentally that also ultrasound can be used to create moir\'e images. Using moir\'e techniques…

In many applications, such as development and testing of image processing algorithms, it is often necessary to simulate images containing realistic noise from solid-state photosensors. A high-level model of CCD and CMOS photosensors based…

When employing underwater vehicles for the autonomous inspection of assets, it is crucial to consider and assess the water conditions. These conditions significantly impact visibility and directly affect robotic operations. Turbidity can…