相关论文: Nonlinear Intensity Underwater Sonar Image Matchin…

Circular Synthetic aperture sonars (CSAS) capture multiple observations of a scene to reconstruct high-resolution images. We can characterize resolution by modeling CSAS imaging as the convolution between a scene's underlying point…

We introduce local matching stability and furthest matchable frame as quantitative measures for evaluating the success of underwater image enhancement. This enhancement process addresses visual degradation caused by light absorption,…

A cost effective approach to remote monitoring of protected areas such as marine reserves and restricted naval waters is to use passive sonar to detect, classify, localize, and track marine vessel activity (including small boats and…

Autonomous Underwater Vehicles (AUVs) commonly utilize an inertial navigation system (INS) and a Doppler velocity log (DVL) for underwater navigation. To that end, their measurements are integrated through a nonlinear filter such as the…

Application of underwater robots are on the rise, most of them are dependent on sonar for underwater vision, but the lack of strong perception capabilities limits them in this task. An important issue in sonar perception is matching image…

With the rapid advancement of technology, the recognition of underwater acoustic signals in complex environments has become increasingly crucial. Currently, mainstream underwater acoustic signal recognition relies primarily on…

Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…

3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…

Sonar image synthesis is crucial for advancing applications in underwater exploration, marine biology, and defence. Traditional methods often rely on extensive and costly data collection using sonar sensors, jeopardizing data quality and…

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…

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…

Visual degradation caused by limited visibility, insufficient lighting, and feature scarcity in underwater environments presents significant challenges to visual-inertial simultaneous localization and mapping (SLAM) systems. To address…

Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due to poor visibility and geometric constraints, while sonar is…

Underwater automatic target recognition (UATR) has been a challenging research topic in ocean engineering. Although deep learning brings opportunities for target recognition on land and in the air, underwater target recognition techniques…

The underwater images usually suffers from non-uniform lighting, low contrast, blur and diminished colors. In this paper, we proposed an image based preprocessing technique to enhance the quality of the underwater images. The proposed…

We present an effective method for the matching of multimodal images. Accurate image matching is the basis of various applications, such as image registration and structure from motion. Conventional matching methods fail when handling noisy…

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…

Images acquired during underwater activities suffer from environmental properties of the water, such as turbidity and light attenuation. These phenomena cause color distortion, blurring, and contrast reduction. In addition, irregular…

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…

Deep learning object detection methods, like YOLOv5, are effective in identifying maritime vessels but often lack detailed information important for practical applications. In this paper, we addressed this problem by developing a technique…