相关论文: Simulation and Testing Results for a Sub-Bottom Im…
In this paper, we apply the scattering transform (ST), a nonlinear map based off of a convolutional neural network (CNN), to classification of underwater objects using sonar signals. The ST formalizes the observation that the filters…
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…
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,…
The problem of testing whether a signal lies within a given subspace, also named matched subspace detection, has been well studied when the signal is represented as a vector. However, the matched subspace detection methods based on vectors…
Synthetic aperture sonar (SAS) image reconstruction, or beamforming as it is often referred to within the SAS community, comprises a class of computationally intensive algorithms for creating coherent high-resolution imagery from successive…
The World Space Observatory - Ultraviolet (WSO-UV) space telescope is equipped with high dispersion (55,000) spectrographs working in the 1150-3100 {\AA} spectral range. To evaluate the impact of the design on the scientific objectives of…
Performing reliability analysis on complex systems is often computationally expensive. In particular, when dealing with systems having high input dimensionality, reliability estimation becomes a daunting task. A popular approach to overcome…
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…
UASs form a large part of the fighting ability of the advanced military forces. In particular, these systems that carry confidential information are subject to security attacks. Accordingly, an Intrusion Detection System (IDS) has been…
Unmanned Aerial Vehicles (UAVs) are increasingly deployed in search-and-rescue (SAR) missions, yet continuous and reliable victim detection and localization remain challenging due to on-board hardware constraints. This paper designs an…
Automatic underground parking has attracted considerable attention as the scope of autonomous driving expands. The auto-vehicle is supposed to obtain the environmental information, track its location, and build a reliable map of the…
Simulating sonar devices requires modeling complex underwater acoustics, simultaneously rendering time-efficient data. Existing methods focus on basic implementation of one sonar type, where most of sound properties are disregarded. In this…
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,…
Underwater object detection using sonar imagery has become a critical and rapidly evolving research domain within marine technology. However, sonar images are characterized by lower resolution and sparser features compared to optical…
We present a technique for dense 3D reconstruction of objects using an imaging sonar, also known as forward-looking sonar (FLS). Compared to previous methods that model the scene geometry as point clouds or volumetric grids, we represent…
Recent advancements in radiation detection and computer vision have enabled small unmanned aerial systems (sUASs) to produce 3D nuclear radiation maps in real-time. Currently these state-of-the-art systems still require two operators: one…
Advances in unmanned synthetic aperture sonar (SAS) imaging platforms allow for the simultaneous collection of multiband SAS imagery. The imagery is collected over several octaves and the phenomenology's interactions with the sea floor vary…
Traditional exteroceptive sensors in mobile robots, such as LiDARs and cameras often struggle to perceive the environment in poor visibility conditions. Recently, radar technologies, such as ultra-wideband (UWB) have emerged as potential…
Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that…
Underwater perception and 3D surface reconstruction are challenging problems with broad applications in construction, security, marine archaeology, and environmental monitoring. Treacherous operating conditions, fragile surroundings, and…