相关论文: Fast Ray-Tracing-Based Precise Underwater Acoustic…
Underwater acoustic recognition for ship-radiated signals has high practical application value due to the ability to recognize non-line-of-sight targets. However, due to the difficulty of data acquisition, the collected signals are scarce…
This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike traditional sonar, which produces 2D images…
Underwater localization is essential for marine exploration and autonomous underwater operations, yet existing radio frequency and optical approaches are limited by rapid attenuation or limited visibility. Acoustic sensing remains the most…
The estimation of underwater sound velocity distribution serves as a critical basis for facilitating effective underwater communication and precise positioning, given that variations in sound velocity influence the path of signal…
In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…
In complex environments, low-cost and robust localization is a challenging problem. For example, in a GPSdenied environment, LiDAR can provide accurate position information, but the cost is high. In general, visual SLAM based localization…
The underwater radiated noise (URN) emanating from ships presents a significant threat to marine mammals, given their heavy reliance on hearing for essential life activities. The intensity of URN from ships is directly correlated to the…
Underwater data infrastructures offer natural cooling and enhanced physical security compared to terrestrial facilities, but their storage systems remain susceptible to acoustic injection attacks, where sound-induced mechanical vibrations…
Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…
We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawbacks associated with…
Identifying changes in a pair of 3D aerial LiDAR point clouds, obtained during two distinct time periods over the same geographic region presents a significant challenge due to the disparities in spatial coverage and the presence of noise…
We present a novel, robust sound source localization algorithm considering back-propagation signals. Sound propagation paths are estimated by generating direct and reflection acoustic rays based on ray tracing in a backward manner. We then…
Accurate localization and 3D maps are increasingly needed for various artificial intelligence based IoT applications such as augmented reality, intelligent transportation, crowd monitoring, robotics, etc. This article proposes a novel…
Accurate relative state observation of Unmanned Underwater Vehicles (UUVs) for tracking uncooperative targets remains a significant challenge due to the absence of GPS, complex underwater dynamics, and sensor limitations. Existing…
In multisensor systems, time synchronization is particularly challenging for underwater integrated navigation systems (INSs) incorporating acoustic positioning, where time delays can significantly degrade accuracy when measurement and…
The detection of underwater targets is severely affected by the non-uniform spatial characteristics of marine environmental noise. Additionally, the presence of both natural and anthropogenic acoustic sources, including shipping traffic,…
This article focuses on feature-based underwater localization and navigation for autonomous underwater vehicles (AUVs) using 2D imaging sonar measurements. The sparsity of underwater acoustic features and the loss of elevation angle in…
In this paper, we consider a single-anchor localization system assisted by a reconfigurable intelligent surface (RIS), where the objective is to localize multiple user equipments (UEs) placed in the radiative near-field region of the RIS by…
Underwater acoustic localization has traditionally been challenging due to the presence of unknown environmental structure and dynamic conditions. The problem is richer still when such structure includes occlusion, which causes the loss of…
Submarine cables play a critical role in global internet connectivity, energy transmission, and communication but remain vulnerable to accidental damage and sabotage. Recent incidents in the Baltic Sea highlighted the need for enhanced…