相关论文: Nonlinear Intensity Underwater Sonar Image Matchin…

Autonomous underwater vehicles (AUVs) are used in a wide range of underwater applications, ranging from seafloor mapping to industrial operations. While underwater, the AUV navigation solution commonly relies on the fusion between inertial…

Underwater images are severely degraded by wavelength-dependent light absorption and scattering, resulting in color distortion, low contrast, and loss of fine details that hinder vision-based underwater applications. To address these…

Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwater SLAM system that fuses a stereo…

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…

With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we…

The accurate measurement of the wave field and its spatiotemporal evolution is essential in many hydrodynamic experiments and engineering applications. The binocular stereo imaging technique has been widely used to measure waves. However,…

Multi-sensor fusion is widely used in the environment perception system of the autonomous vehicle. It solves the interference caused by environmental changes and makes the whole driving system safer and more reliable. In this paper, a novel…

Existing underwater SLAM systems are difficult to work effectively in texture-sparse and geometrically degraded underwater environments, resulting in intermittent tracking and sparse mapping. Therefore, we present Water-DSLAM, a novel…

In many applications, Image de-noising and improvement represent essential processes in presence of colored noise such that in underwater. Power spectral density of the noise is changeable within a definite frequency range, and…

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…

Endoscopic ultrasound (EUS) imaging has a trade-off between resolution and penetration depth. By considering the in-vivo characteristics of human organs, it is necessary to provide clinicians with appropriate hardware specifications for…

Depth information plays a crucial role in autonomous systems for environmental perception and robot state estimation. With the rapid development of deep neural network technology, depth estimation has been extensively studied and shown…

For autonomous navigation and robotic applications, sensing the environment correctly is crucial. Many sensing modalities for this purpose exist. In recent years, one such modality that is being used is in-air imaging sonar. It is ideal in…

In this work we present a novel approach for single depth map super-resolution. Modern consumer depth sensors, especially Time-of-Flight sensors, produce dense depth measurements, but are affected by noise and have a low lateral resolution.…

Objective: Ultrasound elastography is gaining traction as an accessible and useful diagnostic tool for such things as cancer detection and differentiation and thyroid disease diagnostics. Unfortunately, state of the art shear wave imaging…

Acoustic sonar image analysis plays a critical role in object detection and classification, with applications in both civilian and defense domains. Despite the availability of real and synthetic datasets, existing AI models that achieve…

Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due to the accumulated effects of sensor noise and biases, even…

We propose a novel data-driven approach for high-resolution bathymetric reconstruction from sidescan. Sidescan sonar (SSS) intensities as a function of range do contain some information about the slope of the seabed. However, that…

This paper considers the problem of low-dimensional visualisation of very high dimensional information sources for the purpose of situation awareness in the maritime environment. In response to the requirement for human decision support…

The importance of ultrasound is well established in the imaging of human tissue. In order to enhance image quality by exploiting nonlinear effects, recently techniques such as harmonic imaging and nonlinearity parameter tomography have been…