Related papers: SONIC: Sonar Image Correspondence using Pose Super…
Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…
Matching sonar images with high accuracy has been a problem for a long time, as sonar images are inherently hard to model due to reflections, noise and viewpoint dependence. Autonomous Underwater Vehicles require good sonar image matching…
This paper proposes a method that combines the style transfer technique and the learned descriptor to enhance the matching performances of underwater sonar images. In the field of underwater vision, sonar is currently the most effective…
With the continuous development of underwater vision technology, more and more remote sensing images could be obtained. In the underwater scene, sonar sensors are currently the most effective remote perception devices, and the sonar images…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and…
Among underwater perceptual sensors, imaging sonar has been highlighted for its perceptual robustness underwater. The major challenge of imaging sonar, however, arises from the difficulty in defining visual features despite limited…
This study explores the application of self-supervised learning (SSL) for improved target recognition in synthetic aperture sonar (SAS) imagery. The unique challenges of underwater environments make traditional computer vision techniques,…
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…
Accurate and stable feature matching is critical for computer vision tasks, particularly in applications such as Simultaneous Localization and Mapping (SLAM). While recent learning-based feature matching methods have demonstrated promising…
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…
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…
Simultaneous localization and mapping (SLAM) is a critical capability for any autonomous underwater vehicle (AUV). However, robust, accurate state estimation is still a work in progress when using low-cost sensors. We propose enhancing a…
Enhancing forward-looking sonar images is critical for accurate underwater target detection. Current deep learning methods mainly rely on supervised training with simulated data, but the difficulty in obtaining high-quality real-world…
Synthetic Aperture Sonar (SAS) imaging has become a crucial technology for underwater exploration because of its unique ability to maintain resolution at increasing ranges, a characteristic absent in conventional sonar techniques. However,…
In the field of underwater vision research, image matching between the sonar sensors and optical cameras has always been a challenging problem. Due to the difference in the imaging mechanism between them, which are the gray value, texture,…
Deep learning has not been routinely employed for semantic segmentation of seabed environment for synthetic aperture sonar (SAS) imagery due to the implicit need of abundant training data such methods necessitate. Abundant training data,…
Object detection in sonar images is a key technology in underwater detection systems. Compared to natural images, sonar images contain fewer texture details and are more susceptible to noise, making it difficult for non-experts to…
Sonar images are relevant for advancing underwater exploration, autonomous navigation, and ecosystem monitoring. However, the progress depends on data availability. The scarcity of publicly available, well-annotated sonar image datasets…
This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the underwater domain. Our previous work, SVIn, augmented the…
Synthetic aperture imaging systems achieve constant azimuth resolution by coherently summating the observations acquired along the aperture path. At this aim, their locations have to be known with subwavelength accuracy. In underwater…