相关论文: Bathymetric Surveying with Imaging Sonar Using Neu…

In this paper, we address the challenging problem of data association for underwater SLAM through a novel method for sonar image correspondence using learned features. We introduce SONIC (SONar Image Correspondence), a pose-supervised…

This paper presents a holistic approach to saliency-guided visual attention modeling (SVAM) for use by autonomous underwater robots. Our proposed model, named SVAM-Net, integrates deep visual features at various scales and semantics for…

Sea surface height (SSH) is a key geophysical parameter for monitoring and studying meso-scale surface ocean dynamics. For several decades, the mapping of SSH products at regional and global scales has relied on nadir satellite altimeters,…

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…

Underwater scene reconstruction poses a substantial challenge because of the intricate interplay between light and the medium, resulting in scattering and absorption effects that make both depth estimation and rendering more complex. While…

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…

Light Detection and Ranging (LiDAR) are fast emerging sensors in the field of Earth Observation. It is a remote sensing technology that utilizes laser beams to measure distances and create detailed three-dimensional representations of…

Neural volumetric representations have become a widely adopted model for radiance fields in 3D scenes. These representations are fully implicit or hybrid function approximators of the instantaneous volumetric radiance in a scene, which are…

Binaural rendering of ambisonic signals is of broad interest to virtual reality and immersive media. Conventional methods often require manually measured Head-Related Transfer Functions (HRTFs). To address this issue, we collect a paired…

Seismic full-waveform inversion tries to estimate subsurface medium parameters from seismic data. Areas with subsurface salt bodies are of particular interest because they often have hydrocarbon reservoirs on their sides or underneath.…

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…

There is a significant need for precise and reliable forecasting of the far-field noise emanating from shipping vessels. Conventional full-order models based on the Navier-Stokes equations are unsuitable, and sophisticated model reduction…

In this paper, we present SonarSplat, a novel Gaussian splatting framework for imaging sonar that demonstrates realistic novel view synthesis and models acoustic streaking phenomena. Our method represents the scene as a set of 3D Gaussians…

Estimation of nearshore bathymetry is important for accurate prediction of nearshore wave conditions. However, direct data collection is expensive and time-consuming while accurate airborne lidar-based survey is limited by breaking waves…

Real-time satellite imaging has a central role in monitoring, detecting and estimating the intensity of key natural phenomena such as floods, earthquakes, etc. One important constraint of satellite imaging is the trade-off between…

In this work we present a novel method for reconstructing 3D surfaces using a multi-beam imaging sonar. We integrate the intensities measured by the sonar from different viewpoints for fixed cell positions in a 3D grid. For each cell we…

In many applications, it is important to reconstruct a fluid flow field, or some other high-dimensional state, from limited measurements and limited data. In this work, we propose a shallow neural network-based learning methodology for such…

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…

This paper presents and investigates a novel methodology for validating high-resolution ocean models using satellite imagery. High-resolution ocean models provide detailed information in coastal areas where other available data products are…

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…