相关论文: Nonlinear Intensity Underwater Sonar Image Matchin…
Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…
In this paper, we present a comprehensive investigation of the challenges of Monocular Visual Simultaneous Localization and Mapping (vSLAM) methods for underwater robots. While significant progress has been made in state estimation methods…
Ultrasonic imaging is being used to obtain information about the acoustic properties of a medium by emitting waves into it and recording their interaction using ultrasonic transducer arrays. The Delay-And-Sum (DAS) algorithm forms images…
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…
Underwater environments pose significant challenges due to the selective absorption and scattering of light by water, which affects image clarity, contrast, and color fidelity. To overcome these, we introduce OceanLens, a method that models…
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…
This paper presents a novel approach to underwater terrain mapping for Autonomous Underwater Vehicles (AUVs) operating in close proximity to complex 3D environments. The proposed methodology creates a probabilistic elevation map of the…
This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a learning-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such…
This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the underwater domain. Our previous work, SVIn, augmented the…
Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…
Light Detection and Ranging (LiDAR) are fast emerging sensors in the field of Earth Observation. It is a remote sensing technology that utilizes laser beams to measure distances and create detailed three-dimensional representations of…
We present a multiscale approach for identifying features in ocean beds by solving inverse problems in high frequency seafloor acoustics. The setting is based on Sound Navigation And Ranging (SONAR) imaging used in scientific, commercial,…
Robust matching of side-scan sonar imagery remains a fundamental challenge in seafloor mapping due to view-dependent backscatter, shadows, and geometric distortion. This paper proposes a novel matching framework that combines physical…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Recently, the usage of multi-rotor unmanned autonomous vehicles (UAV) for marine applications is receiving more attention in the literature. Usually,…
The problem of information fusion from multiple data-sets acquired by multimodal sensors has drawn significant research attention over the years. In this paper, we focus on a particular problem setting consisting of a physical phenomenon or…
Feature matching is an important technique to identify a single object in different images. It helps machines to construct recognition of a specific object from multiple perspectives. For years, feature matching has been commonly used in…
Object classification in synthetic aperture sonar (SAS) imagery is usually a data starved and class imbalanced problem. There are few objects of interest present among much benign seafloor. Despite these problems, current classification…
Raw underwater images are degraded due to wavelength dependent light attenuation and scattering, limiting their applicability in vision systems. Another factor that makes enhancing underwater images particularly challenging is the diversity…
Recent progress in synthetic aperture sonar (SAS) technology and processing has led to significant advances in underwater imaging, outperforming previously common approaches in both accuracy and efficiency. There are, however, inherent…
Successful applications of complex vision-based behaviours underwater have lagged behind progress in terrestrial and aerial domains. This is largely due to the degraded image quality resulting from the physical phenomena involved in…