Related papers: S3Simulator: A benchmarking Side Scan Sonar Simula…
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,…
This paper presents a novel dataset for the development of visual navigation and simultaneous localisation and mapping (SLAM) algorithms as well as for underwater intervention tasks. It differs from existing datasets as it contains ground…
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…
Underwater robot perception is crucial in scientific subsea exploration and commercial operations. The key challenges include non-uniform lighting and poor visibility in turbid environments. High-frequency forward-look sonar cameras address…
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…
Polarization-based underwater 3D imaging exploits polarization cues to suppress background scattering, exhibiting distinct advantages in turbid water. Although data-driven polarization-based underwater 3D reconstruction methods show great…
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…
Bloodstain pattern analysis plays a crucial role in crime scene investigations by providing valuable information through the study of unique blood patterns. Conventional image analysis methods, like Thresholding and Contrast, impose…
Many underwater applications, such as offshore asset inspections, rely on visual inspection and detailed 3D reconstruction. Recent advancements in underwater visual SLAM systems for aquatic environments have garnered significant attention…
Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which…
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…
We present a challenging dataset, the TartanAir, for robot navigation tasks and more. The data is collected in photo-realistic simulation environments with the presence of moving objects, changing light and various weather conditions. By…
Synthetic aperture sonar (SAS) systems produce high-resolution images of the seabed environment. Moreover, deep learning has demonstrated superior ability in finding robust features for automating imagery analysis. However, the success of…
The goal of this paper is to assess the impact of noise in 3D camera-captured data by modeling the noise of the imaging process and applying it on synthetic training data. We compiled a dataset of specifically constructed scenes to obtain a…
Image segmentation remains a pivotal component in medical image analysis, aiding in the extraction of critical information for precise diagnostic practices. With the advent of deep learning, automated image segmentation methods have risen…
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…
The deployment of a continuous methane monitoring system requires determining the optimal number and placement of fixed sensors. However, planning is labor-intensive, requiring extensive site setup and iteration to meet client restrictions.…
Recognizing the sounding objects in scenes is a longstanding objective in embodied AI, with diverse applications in robotics and AR/VR/MR. To that end, Audio-Visual Segmentation (AVS), taking as condition an audio signal to identify the…
Underwater Vehicles have become more sophisticated, driven by the off-shore sector and the scientific community's rapid advancements in underwater operations. Notably, many underwater tasks, including the assessment of subsea…
Sidescan sonar intensity encodes information about the changes of surface normal of the seabed. However, other factors such as seabed geometry as well as its material composition also affect the return intensity. One can model these…