相关论文: Neural Shape-from-Shading for Survey-Scale Self-Co…

Combining synthetic aperture sonar (SAS) imagery with optical images for underwater object classification has the potential to overcome challenges such as water clarity, the stability of the optical image analysis platform, and strong…

This paper presents a holistic approach to saliency-guided visual attention modeling (SVAM) for use by autonomous underwater robots. Our proposed model, named SVAM-Net, integrates deep visual features at various scales and semantics for…

Critical maritime infrastructure increasingly demands situational awareness both above and below the surface, yet existing ''seabed-to-sky'' mapping pipelines either rely on GNSS (vulnerable to shadowing/spoofing) or expensive bathymetric…

Acoustic sensors play an important role in autonomous underwater vehicles (AUVs). Sidescan sonar (SSS) detects a wide range and provides photo-realistic images in high resolution. However, SSS projects the 3D seafloor to 2D images, which…

Circular Synthetic Aperture Sonar (CSAS) provides a 360{\deg} azimuth view of the seabed, surpassing the limited aperture and mono-view image of conventional side-scan SAS. This makes CSAS a valuable tool for target recognition in mine…

Many applications including object reconstruction, robot guidance, and scene mapping require the registration of multiple views from a scene to generate a complete geometric and appearance model of it. In real situations, transformations…

Autonomous navigation in underwater environments presents challenges due to factors such as light absorption and water turbidity, limiting the effectiveness of optical sensors. Sonar systems are commonly used for perception in underwater…

We propose a novel approach to handling the ambiguity in elevation angle associated with the observations of a forward looking multi-beam imaging sonar, and the challenges it poses for performing an accurate 3D reconstruction. We utilize a…

Simulating sonar devices requires modeling complex underwater acoustics, simultaneously rendering time-efficient data. Existing methods focus on basic implementation of one sonar type, where most of sound properties are disregarded. In this…

Unmanned surface vehicles can encounter a number of varied visual circumstances during operation, some of which can be very difficult to interpret. While most cases can be solved only using color camera images, some weather and lighting…

In this paper, we address stereo acoustic data fusion for marine robotics and propose a geometry-based method for projecting observed features from one sonar to another for a cross-modal stereo sonar setup that consists of both a…

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…

Photometric redshift estimation plays a crucial role in modern cosmological surveys for studying the universe's large-scale structures and the evolution of galaxies. Deep learning has emerged as a powerful method to produce accurate…

Oceanic processes at fine scales are crucial yet difficult to observe accurately due to limitations in satellite and in-situ measurements. The Surface Water and Ocean Topography (SWOT) mission provides high-resolution Sea Surface Height…

Accurate, detailed, and regularly updated bathymetry, coupled with complex semantic content, is essential for under-mapped shallow-water environments facing increasing climatological and anthropogenic pressures. However, existing approaches…

In this paper, we present SonarSplat, a novel Gaussian splatting framework for imaging sonar that demonstrates realistic novel view synthesis and models acoustic streaking phenomena. Our method represents the scene as a set of 3D Gaussians…

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…

Object detection in sonar images is a key technology in underwater detection systems. Compared to natural images, sonar images contain fewer texture details and are more susceptible to noise, making it difficult for non-experts to…

In recent years, an ever-increasing number of remote satellites are orbiting the Earth which streams vast amount of visual data to support a wide range of civil, public and military applications. One of the key information obtained from…

We address the problem of looking into the water from the air, where we seek to remove image distortions caused by refractions at the water surface. Our approach is based on modeling the different water surface structures at various points…