相关论文: Fast Ray-Tracing-Based Precise Underwater Acoustic…
A fundamental challenge in millimeter-wave (mmWave) communication is the susceptibility to blocking objects. One way to alleviate this problem is the use of reconfigurable intelligent surfaces (RIS). Nevertheless, due to the large number of…
Accurate estimation of the speed-of-sound (SoS) is important for ultrasound (US) image reconstruction techniques and tissue characterization. Various approaches have been proposed to calculate SoS, ranging from tomography-inspired…
We consider the problem of localizing a manned, semi-autonomous, or autonomous vehicle in the environment using information coming from the vehicle's sensors, a problem known as navigation or simultaneous localization and mapping (SLAM)…
We present a stereo-matching method for depth estimation from high-resolution images using visual hulls as priors, and a memory-efficient technique for the correlation computation. Our method uses object masks extracted from supplementary…
In this paper, we investigate a new optimization framework for multi-view 3D shape reconstructions. Recent differentiable rendering approaches have provided breakthrough performances with implicit shape representations though they can still…
Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a low-cost means of directly estimating metric depth to support these tasks. However, despite recent advances in stereo depth estimation…
In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection…
In this paper we propose a novel approach aimed at recovering the 3D position of an UUV from UAV imagery in shallow-water environments. Through combination of UAV and UUV measurements, we show that our method can be utilized as an accurate…
The emergence of water-proof mobile and wearable devices (e.g., Garmin Descent and Apple Watch Ultra) designed for underwater activities like professional scuba diving, opens up opportunities for underwater networking and localization…
Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…
This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. It proposes a navigation method utilizing the complementarity of vision and…
In radar accurate localization of unmanned aerial vehicle (UAV) swarms, the high density, similar motion parameters, small radar cross-section (RCS), strong noise and far range put forward high requirements on radar resolution and…
The sparsity of millimeter wave (mmWave) channels in the angular and temporal domains is beneficial to channel estimation, while the associated channel parameters can be utilized for localization. However, line-of-sight (LoS) blockage poses…
The angular spectrum approach (ASA)---a fast, frequency domain method for calculation of the acoustic field---enables passive source localization and modeling forward propagation in homogeneous media with high computational efficiency. Here…
Ray-tracing (RT) simulators are essential for wireless digital twins, enabling accurate site-specific radio channel prediction for next-generation wireless systems. Yet, RT simulation accuracy is often limited by insufficient measurement…
Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…
This paper presents a novel tightly-coupled keyframe-based Simultaneous Localization and Mapping (SLAM) system with loop-closing and relocalization capabilities targeted for the underwater domain. Our previous work, SVIn, augmented the…
Sound Event Detection and Localization (SELD) is a combined task of identifying sound events and their corresponding direction-of-arrival (DOA). While this task has numerous applications and has been extensively researched in recent years,…
Underwater automatic target recognition (UATR) has been a challenging research topic in ocean engineering. Although deep learning brings opportunities for target recognition on land and in the air, underwater target recognition techniques…
In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects. One solution is to identify those objects so that their visual features can be removed for localization and…