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Detecting anomalies in hyperspectral image data, i.e. regions which are spectrally distinct from the image background, is a common task in hyperspectral imaging. Such regions may represent interesting objects to human operators, but…

Unmanned Aerial Vehicles (UAVs) are known for their fast and versatile applicability. With UAVs' growth in availability and applications, they are now of vital importance in serving as technological support in search-and-rescue(SAR)…

Development of optical technology has enabled imaging of two-dimensional (2D) sound fields. This acousto-optic sensing enables understanding of the interaction between sound and objects such as reflection and diffraction. Moreover, it is…

Object placement is a fundamental task for robots, yet it remains challenging for partially observed objects. Existing methods for object placement have limitations, such as the requirement for a complete 3D model of the object or the…

Under the sea, visible spectrum cameras have limited sensing capacity, being able to detect objects only in clear water, but in a constrained range. Considering any sea water condition, sonars are more suitable to support autonomous…

The data-driven reduced order models (ROMs) have recently emerged as an efficient tool for the solution of the inverse scattering problems with applications to seismic and sonar imaging. One specification of this approach is that it…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

Scene reconstruction is an essential capability for underwater robots navigating in close proximity to structures. Monocular vision-based reconstruction methods are unreliable in turbid waters and lack depth scale information. Sonars are…

Autonomous navigation in 3D is a fundamental problem for autonomy. Despite major advancements in terrestrial and aerial settings due to improved range sensors including LiDAR, compact sensors with similar capabilities for underwater robots…

An algorithm based on compressive sensing (CS) is proposed for synthetic aperture radar (SAR) imaging of moving targets. The received SAR echo is decomposed into the sum of basis sub-signals, which are generated by discretizing the target…

Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…

Non-navigable rivers and retention ponds play important roles in buffering communities from flooding, yet emergency planners often have no data as to the volume of water that they can carry before flooding the surrounding. This paper…

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…

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,…

Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…

With robots being deployed in increasingly complex environments like underground mines and planetary surfaces, the multi-sensor fusion method has gained more and more attention which is a promising solution to state estimation in the such…

In ultrasound nondestructive testing, a widespread approach is to take synthetic aperture measurements from the surface of a specimen to detect and locate defects within it. Based on these measurements, imaging is usually performed using…

In this work we present a novel method for reconstructing 3D surfaces using a multi-beam imaging sonar. We integrate the intensities measured by the sonar from different viewpoints for fixed cell positions in a 3D grid. For each cell we…

The problem of reliably detecting and geolocating objects of different classes in soft real-time is essential in many application areas, such as Search and Rescue performed using Unmanned Aerial Vehicles (UAVs). This research addresses the…

The SOXS is a dual-arm spectrograph (UV-VIS & NIR) and AC due to mounted on the ESO 3.6m NTT in La Silla. Designed to simultaneously cover the optical and NIR wavelength range from 350-2050 nm, the instrument will be dedicated to the study…