相关论文: DANAE: a denoising autoencoder for underwater atti…
Existing works are dedicated to untangling atomized numerical components (features) from the hidden states of Large Language Models (LLMs). However, they typically rely on autoencoders constrained by some training-time regularization on…
Magnetometer and inertial sensors are widely used for orientation estimation. Magnetometer usage is often troublesome, as it is prone to be interfered by onboard or ambient magnetic disturbance. The onboard soft-iron material distorts not…
Underwater Image Enhancement (UIE) is essential for robust visual perception in marine applications. However, existing methods predominantly rely on uniform mapping tailored to average dataset distributions, leading to over-processing…
This paper comprehensively reviews recent advances in underwater acoustic signal denoising, an area critical for improving the reliability and clarity of underwater communication and monitoring systems. Despite significant progress in the…
Lidar SLAM plays a significant role in mobile robot navigation and high-definition map construction. However, existing methods often face a trade-off between localization accuracy and system robustness in scenarios with a high proportion of…
We present a sensor misalignment-tolerant AUV navigation method that leverages measurements from an acoustic array and dead reckoned information. Recent studies have demonstrated the potential use of passive acoustic Direction of Arrival…
This paper develops an underwater navigation solution that utilizes a strapdown inertial navigation system (SINS) and fuses a set of auxiliary sensors such as an acoustic positioning system, Doppler velocity log, depth meter, attitude…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
Acoustic mapping techniques have long been used in spatial audio processing for direction of arrival estimation (DoAE). Traditional beamforming methods for acoustic mapping, while interpretable, often rely on iterative solvers that can be…
Recently, several deep learning methods are proposed for the gravitational wave data analysis. One is conditional variational auto encoder (CVAE), proposed by Gabbard et al. [1]. We study the accuracy of a CVAE in the context of the…
We address the problem of vehicle self-localization from multi-modal sensor information and a reference map. The map is generated off-line by extracting landmarks from the vehicle's field of view, while the measurements are collected…
Road accident can be triggered by wet road because it decreases skid resistance. To prevent the road accident, detecting road surface abnomality is highly useful. In this paper, we propose the deep learning based cost-effective real-time…
The detection of underwater targets is severely affected by the non-uniform spatial characteristics of marine environmental noise. Additionally, the presence of both natural and anthropogenic acoustic sources, including shipping traffic,…
In this paper, we present an analysis of a DNN-based autoencoder for speech enhancement, dereverberation and denoising. The target application is a robust speaker recognition system. We started with augmenting the Fisher database with…
Nowadays, multi-sensor technologies are applied in many fields, e.g., Health Care (HC), Human Activity Recognition (HAR), and Industrial Control System (ICS). These sensors can generate a substantial amount of multivariate time-series data.…
High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…
Uncertainty estimation for unlabeled data is crucial to active learning. With a deep neural network employed as the backbone model, the data selection process is highly challenging due to the potential over-confidence of the model…
Data-driven fault diagnostics of safety-critical systems often faces the challenge of a complete lack of labeled data associated with faulty system conditions (i.e., fault types) at training time. Since an unknown number and nature of fault…
A novel dynamic mode decomposition (DMD) method based on a Kalman filter is proposed. This paper explains the fast algorithm of the proposed Kalman filter DMD (KFDMD) in combination with truncated proper orthogonal decomposition for…
This paper proposes a method for tight fusion of visual, depth and inertial data in order to extend robotic capabilities for navigation in GPS-denied, poorly illuminated, and texture-less environments. Visual and depth information are fused…