相关论文: Simulation and Testing Results for a Sub-Bottom Im…
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 3D object detection remains one of the most challenging frontiers in computer vision, where traditional approaches struggle with the harsh acoustic environment and scarcity of training data. While deep learning has revolutionized…
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…
We introduce Grounded SAM, which uses Grounding DINO as an open-set object detector to combine with the segment anything model (SAM). This integration enables the detection and segmentation of any regions based on arbitrary text inputs and…
Small-angle X-ray or neutron scattering (SAXS/SANS/SAS) is widely used to obtain structural information on biomolecules or soft-matter complexes in solution. Deriving a molecular interpretation of the scattering signals requires methods for…
This paper introduces an algorithmic solution to a broader class of unlabeled sensing problems with multiple measurement vectors (MMV). The goal is to recover an unknown structured signal matrix, $\mathbf{X}$, from its noisy linear…
Ultrasonic sensors are widely used for object detection and localization in underwater and biological settings. The operational range and spatial resolution are inherently limited by sensor sensitivity, in which conventional piezoelectric…
Underwater sonar imaging plays a crucial role in various applications, including autonomous navigation in murky water, marine archaeology, and environmental monitoring. However, the unique characteristics of sonar images, such as complex…
Future detection of Extensive Air Showers (EAS) produced by Ultra High Energy Cosmic Particles (UHECP) by means of space based fluorescence telescopes will open a new window on the universe and allow cosmic ray and neutrino astronomy at a…
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…
In the past decade, the adoption of compact 3D range sensors, such as LiDARs, has driven the developments of robust state-estimation pipelines, making them a standard sensor for aerial, ground, and space autonomy. Unfortunately, poor…
Synthetic sonar datasets offer a scalable alternative to costly real-world acquisition, yet their utility remains limited by the absence of rigorous quantitative validation. We present ACOUSIM (ACOustic SIMulation and Validation Platform),…
Using low-frequency (UHF to L-band) ultra-wideband (UWB) synthetic aperture radar (SAR) technology for detecting buried and obscured targets, e.g. bomb or mine, has been successfully demonstrated recently. Despite promising recent progress,…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
Unsupervised semantic segmentation (USS) aims to achieve high-quality segmentation without manual pixel-level annotations. Existing USS models provide coarse category classification for regions, but the results often have blurry and…
Unmanned Aerial Vehicles (UAVs) hold immense potential for critical applications, such as search and rescue operations, where accurate perception of indoor environments is paramount. However, the concurrent amalgamation of localization, 3D…
Score-based diffusion models are a recently developed framework for posterior sampling in Bayesian inverse problems with a state-of-the-art performance for severely ill-posed problems by leveraging a powerful prior distribution learned from…
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…
Autonomous underwater inspection of submerged pipelines is challenging due to confined geometries, turbidity, and the scarcity of reliable localization cues. This paper presents a minimal-sensing strategy that enables a free-swimming…
This article presents an analysis of current state-of-the-art sensors and how these sensors work with several mapping algorithms for UAV (Unmanned Aerial Vehicle) applications, focusing on low-altitude and high-speed scenarios. A new…