相关论文: 2D Forward Looking Sonar Simulation with Ground Ec…
Scene reconstruction is an essential capability for underwater robots navigating in close proximity to structures. Monocular vision-based reconstruction methods are unreliable in turbid waters and lack depth scale information. Sonars are…
Enhancing forward-looking sonar images is critical for accurate underwater target detection. Current deep learning methods mainly rely on supervised training with simulated data, but the difficulty in obtaining high-quality real-world…
Underwater robot perception is crucial in scientific subsea exploration and commercial operations. The key challenges include non-uniform lighting and poor visibility in turbid environments. High-frequency forward-look sonar cameras address…
We propose an optimization technique for 3-D underwater object modeling from 2-D forward-scan sonar images at known poses. A key contribution, for objects imaged in the proximity of the sea surface, is to resolve the multipath artifacts due…
Underwater robots typically rely on acoustic sensors like sonar to perceive their surroundings. However, these sensors are often inundated with multiple sources and types of noise, which makes using raw data for any meaningful inference…
The predictive brain hypothesis suggests that perception can be interpreted as the process of minimizing the error between predicted perception tokens generated by an internal world model and actual sensory input tokens. When implementing…
Sonar is often the only modality suitable for high-resolution imaging underwater due to light attenuation and turbidity. Forward-looking imaging sonar provides measurements over range and horizontal angle but collapses vertical structure…
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…
Underwater cameras are widely used to observe the sea floor. They are usually included in autonomous underwater vehicles, unmanned underwater vehicles, and in situ ocean sensor networks. Despite being an important sensor for monitoring…
Hyperspectral imaging has been increasingly used for underwater survey applications over the past years. As many hyperspectral cameras work as push-broom scanners, their use is usually limited to the creation of photo-mosaics based on a…
Sonar sensing is fundamental for underwater robotics, but limited by capabilities of AI systems, which need large training datasets. Public data in sonar modalities is lacking. This paper presents the Marine Debris Forward-Looking Sonar…
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 low-visibility marine environments characterized by turbidity and darkness, acoustic cameras serve as visual sensors capable of generating high-resolution 2D sonar images. However, acoustic camera images are interfered with by complex…
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…
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…
Accurate 3D volumetric mapping is critical for autonomous underwater vehicles operating in obstacle-rich environments. Vision-based perception provides high-resolution data but fails in turbid conditions, while sonar is robust to 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…
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…
Generating 3D point cloud (PC) data from noisy sonar measurements is a problem that has potential applications for bathymetry mapping, artificial object inspection, mapping of aquatic plants and fauna as well as underwater navigation and…
This paper introduces Synthetic Enclosed Echoes (SEE), a novel dataset designed to enhance robot perception and 3D reconstruction capabilities in underwater environments. SEE comprises high-fidelity synthetic sonar data, complemented by a…