Related papers: SONIC: Sonar Image Correspondence using Pose Super…
Intrinsic decomposition from a single image is a highly challenging task, due to its inherent ambiguity and the scarcity of training data. In contrast to traditional fully supervised learning approaches, in this paper we propose learning…
A novel, non-learning-based, saliency-aware, shape-cognizant correspondence determination technique is proposed for matching image pairs that are significantly disparate in nature. Images in the real world often exhibit high degrees of…
Imaging sonar produces clear images in underwater environments, independent of water turbidity and lighting conditions. The next generation 2D forward looking sonars are compact in size and able to generate high-resolution images which…
Detection of undersea threats is a complex problem of considerable importance for maritime regional surveillance and security. Multistatic sonar systems can provide a means to monitor for underwater threats, where fixed sensors, towed…
Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…
Vision camera and sonar are naturally complementary in the underwater environment. Combining the information from two modalities will promote better observation of underwater targets. However, this problem has not received sufficient…
We focus on domain and class generalization problems in analyzing optical remote sensing images, using the large-scale pre-trained vision-language model (VLM), CLIP. While contrastively trained VLMs show impressive zero-shot generalization…
Side-scan sonar (SSS) imagery presents unique challenges in the classification of man-made objects on the seafloor due to the complex and varied underwater environments. Historically, experts have manually interpreted SSS images, relying on…
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…
Recent work has achieved dense 3D reconstruction with wide-aperture imaging sonar using a stereo pair of orthogonally oriented sonars. This allows each sonar to observe a spatial dimension that the other is missing, without requiring any…
Cameras are an essential part of sensor suite in autonomous driving. Surround-view cameras are directly exposed to external environment and are vulnerable to get soiled. Cameras have a much higher degradation in performance due to soiling…
With the rapidly increasing number of satellites in space and their enhanced capabilities, the amount of earth observation images collected by satellites is exceeding the transmission limits of satellite-to-ground links. Although existing…
Recent image-goal navigation (ImageNav) methods learn a perception-action policy by separately capturing semantic features of the goal and egocentric images, then passing them to a policy network. However, challenges remain: (1) Semantic…
2D forward-looking sonar is a crucial sensor for underwater robotic perception. A well-known problem in this field is estimating missing information in the elevation direction during sonar imaging. There are demands to estimate 3D…
Existing underwater SLAM systems are difficult to work effectively in texture-sparse and geometrically degraded underwater environments, resulting in intermittent tracking and sparse mapping. Therefore, we present Water-DSLAM, a novel…
Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…
Image Super-Resolution (SR) provides a promising technique to enhance the image quality of low-resolution optical sensors, facilitating better-performing target detection and autonomous navigation in a wide range of robotics applications.…
Synthetic aperture sonar (SAS) requires precise time-of-flight measurements of the transmitted/received waveform to produce well-focused imagery. It is not uncommon for errors in these measurements to be present resulting in image…
We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…
Underwater wireless communications face significant challenges due to propagation constraints, limiting the effectiveness of traditional radio and optical technologies. Long-range acoustic communications support distances up to a few…