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Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that…

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…

Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and…

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…

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…

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.…

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…

Side-scan sonar (SSS) imagery presents unique challenges in the classification of man-made objects on the seafloor due to the complex and varied underwater environments. Historically, experts have manually interpreted SSS images, relying on…

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…

In the field of deep-sea exploration, sonar is presently the only efficient long-distance sensing device. The complicated underwater environment, such as noise interference, low target intensity or background dynamics, has brought many…

Distinguishing among different marine benthic habitat characteristics is of key importance in a wide set of seabed operations ranging from installations of oil rigs to laying networks of cables and monitoring the impact of humans on marine…

Synthetic aperture sonar (SAS) image resolution is constrained by waveform bandwidth and array geometry. Specifically, the waveform bandwidth determines a point spread function (PSF) that blurs the locations of point scatterers in the…

Robust matching of side-scan sonar imagery remains a fundamental challenge in seafloor mapping due to view-dependent backscatter, shadows, and geometric distortion. This paper proposes a novel matching framework that combines physical…

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…

Synthetic aperture sonar (SAS) requires precise time-of-flight measurements of the transmitted/received waveform to produce well-focused imagery. It is not uncommon for errors in these measurements to be present resulting in image…

Mapping the seafloor with underwater imaging cameras is of significant importance for various applications including marine engineering, geology, geomorphology, archaeology and biology. For shallow waters, among the underwater imaging…

Recent advances in differentiable rendering, which allow calculating the gradients of 2D pixel values with respect to 3D object models, can be applied to estimation of the model parameters by gradient-based optimization with only 2D…

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…

Synthetic aperture sonar (SAS) image reconstruction, or beamforming as it is often referred to within the SAS community, comprises a class of computationally intensive algorithms for creating coherent high-resolution imagery from successive…

Real-time imaging sonar is crucial for underwater monitoring where optical sensing fails, but its use is limited by low uplink bandwidth and severe sonar-specific artifacts (speckle, motion blur, reverberation, acoustic shadows) affecting…