相关论文: Neural Shape-from-Shading for Survey-Scale Self-Co…
In this paper, we address the challenging problem of data association for underwater SLAM through a novel method for sonar image correspondence using learned features. We introduce SONIC (SONar Image Correspondence), a pose-supervised…
Subsea images measured by the side scan sonars (SSSs) are necessary visual data in the process of deep-sea exploration by using the autonomous underwater vehicles (AUVs). They could vividly reflect the topography of the seabed, but usually…
Underwater sonar imaging plays a crucial role in various applications, including autonomous navigation in murky water, marine archaeology, and environmental monitoring. However, the unique characteristics of sonar images, such as complex…
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…
Sonar images are relevant for advancing underwater exploration, autonomous navigation, and ecosystem monitoring. However, the progress depends on data availability. The scarcity of publicly available, well-annotated sonar image datasets…
Synthetic aperture sonar (SAS) measures a scene from multiple views in order to increase the resolution of reconstructed imagery. Image reconstruction methods for SAS coherently combine measurements to focus acoustic energy onto the scene.…
The multi-beam measurement system plays a crucial role in ocean mapping and underwater terrain detection. By simultaneously transmitting multiple beams, the system can accurately receive sound waves reflected from the seabed, providing more…
Side-scan sonar mosaicking plays a crucial role in large-scale seabed mapping but is challenged by complex non-linear, spatially varying distortions due to diverse sonar acquisition conditions. Existing rigid or affine registration methods…
Accurate mapping of ocean bathymetry is a multi-faceted process, needed for safe and efficient navigation on shipping routes and for predicting tsunami waves. Currently available bathymetry data does not always provide the resolution to…
Side-scan sonar (SSS) imagery is widely used for seafloor mapping and underwater remote sensing, yet the measured intensity is strongly influenced by seabed reflectivity, terrain elevation, and acoustic path loss. This entanglement makes…
This paper details a new method to recognize and detect underwater objects in real-time sidescan sonar data imagery streams, with case-studies of applications for underwater archeology, and ghost fishing gear retrieval. We first synthesize…
Both higher efficiency and cost reduction can be gained from automating bathymetric surveying for offshore applications such as pipeline, telecommunication or power cables installation and inspection on the seabed. We present a SLAM system…
Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which…
Sea surface height (SSH) is a key geophysical parameter for monitoring and studying meso-scale surface ocean dynamics. For several decades, the mapping of SSH products at regional and global scales has relied on nadir satellite altimeters,…
Side-scan sonar (SSS) images are susceptible to motion-induced geometric distortion, which degrades their reliability for seabed interpretation and downstream tasks. Existing correction methods either exploit image-domain consistency…
Bathymetry reconstruction is an important problem in various fields, including oceanography and environmental monitoring. This paper presents a Bayesian inference approach to reconstructing bathymetries from point measurements of the water…
The determination of accurate bathymetric information is a key element for near offshore activities, hydrological studies such as coastal engineering applications, sedimentary processes, hydrographic surveying as well as archaeological…
The sonar images provide a rapid view of the seabed in order to characterize it. However, in such as uncertain environment, real seabed is unknown and the only information we can obtain, is the interpretation of different human experts,…
Self-supervised learning (SSL) has emerged as a powerful strategy for representation learning under limited annotation regimes, yet its effectiveness remains highly sensitive to many factors, especially the nature of the target task. In…
Recent work has achieved dense 3D reconstruction with wide-aperture imaging sonar using a stereo pair of orthogonally oriented sonars. This allows each sonar to observe a spatial dimension that the other is missing, without requiring any…