相关论文: 2D Forward Looking Sonar Simulation with Ground Ec…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is frequently deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, using side-scan images to perform simultaneous localization and…
Rigid-body impact sound synthesis methods often omit the ground sound. In this paper we analyze an idealized ground-sound model based on an elastodynamic halfspace, and use it to identify scenarios wherein ground sound is perceptually…
Underwater image restoration is a challenging task because of water effects that increase dramatically with distance. This is worsened by lack of ground truth data of clean scenes without water. Diffusion priors have emerged as strong image…
Underwater robots play an important role in oceanic geological exploration, resource exploitation, ecological research, and other fields. However, the visual perception of underwater robots is affected by various environmental factors. The…
Simulating realistic radar data has the potential to significantly accelerate the development of data-driven approaches to radar processing. However, it is fraught with difficulty due to the notoriously complex image formation process. Here…
Recently, a new underwater imaging formation model presented that the coefficients related to the direct and backscatter transmission signals are dependent on the type of water, camera specifications, water depth, and imaging range. This…
We detail acoustic backscatter processing for characterization and mapping of the ocean bottom.
Matching sonar images with high accuracy has been a problem for a long time, as sonar images are inherently hard to model due to reflections, noise and viewpoint dependence. Autonomous Underwater Vehicles require good sonar image matching…
The next generation of ground-based instruments aims to break through the knowledge we have on exoplanets by imaging circumstellar environments always closer to the stars. However, direct imaging requires an AO system and high-contrast…
This paper introduces single-image geometric and appearance reconstruction from water reflection photography, i.e., images capturing direct and water-reflected real-world scenes. Water reflection offers an additional viewpoint to the direct…
LiDAR sensors can be used to obtain a wide range of measurement signals other than a simple 3D point cloud, and those signals can be leveraged to improve perception tasks like 3D object detection. A single laser pulse can be partially…
Underwater image restoration has been a challenging problem for decades since the advent of underwater photography. Most solutions focus on shallow water scenarios, where the scene is uniformly illuminated by the sunlight. However, the vast…
The perspective-$n$-point (P$n$P) problem is important for robotic pose estimation. It is well studied for optical cameras, but research is lacking for 2D forward-looking sonar (FLS) in underwater scenarios due to the vastly different…
Recent advancements in 4D generation have demonstrated its remarkable capability in synthesizing photorealistic renderings of dynamic 3D scenes. However, despite achieving impressive visual performance, almost all existing methods overlook…
In this paper an investigation of flow noise in sonar applications is presented. Based on a careful identification of the dominant coupling effects, the acoustic noise at the sensor position resulting from the turbulent wall pressure…
This paper introduces a statistical model and corresponding sequential Bayesian estimation method for terrain-based navigation using side-scan sonar (SSS) data. The presented approach relies on slant range measurements extracted from the…
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…
To take advantage of high-resolution optics sensitive to a broad energy range, future X-ray imaging instruments will require thick detectors with small pixels. This pixel aspect ratio affects spectral response in the soft X-ray band, vital…
Shallow water and coastal aquatic ecosystems such as coral reefs and seagrass meadows play a critical role in regulating and understanding Earth's changing climate and biodiversity. They also play an important role in protecting towns and…
We consider the problem of optimizing neural implicit surfaces for 3D reconstruction using acoustic images collected with drifting sensor poses. The accuracy of current state-of-the-art 3D acoustic modeling algorithms is highly dependent on…