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

Side-scan sonar (SSS) imagery is widely used for seafloor mapping and underwater remote sensing, yet the measured intensity is strongly influenced by seabed reflectivity, terrain elevation, and acoustic path loss. This entanglement makes…

Digital elevation modeling of planetary surfaces is essential for studying past and ongoing geological processes. Wide-angle imagery acquired during spacecraft descent promises to offer a low-cost option for high-resolution terrain…

The Surface Water and Ocean Topography (SWOT) mission provides two-dimensional sea surface height (SSH) maps at unprecedented resolution, but its signal is a combination of balanced meso- and submesoscale turbulence, unbalanced internal…

Nowadays underwater vision systems are being widely applied in ocean research. However, the largest portion of the ocean - the deep sea - still remains mostly unexplored. Only relatively few image sets have been taken from the deep sea due…

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…

Novel view synthesis is a challenging and ill-posed inverse rendering problem. Neural rendering techniques have recently achieved photorealistic image quality for this task. State-of-the-art (SOTA) neural volume rendering approaches,…

Oceanic processes at fine scales are crucial yet difficult to observe accurately due to limitations in satellite and in-situ measurements. The Surface Water and Ocean Topography (SWOT) mission provides high-resolution Sea Surface Height…

Underwater imagery often exhibits distorted coloration as a result of light-water interactions, which complicates the study of benthic environments in marine biology and geography. In this research, we propose an algorithm to restore the…

Sonar-based indoor mapping systems have been widely employed in robotics for several decades. While such systems are still the mainstream in underwater and pipe inspection settings, the vulnerability to noise reduced, over time, their…

Deep learning has not been routinely employed for semantic segmentation of seabed environment for synthetic aperture sonar (SAS) imagery due to the implicit need of abundant training data such methods necessitate. Abundant training data,…

Autonomous navigation in underwater environments presents challenges due to factors such as light absorption and water turbidity, limiting the effectiveness of optical sensors. Sonar systems are commonly used for perception in underwater…

The research on neural radiance fields for new view synthesis has experienced explosive growth with the development of new models and extensions. The NERF algorithm, suitable for underwater scenes or scattering media, is also evolving.…

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…

We propose a novel approach to handling the ambiguity in elevation angle associated with the observations of a forward looking multi-beam imaging sonar, and the challenges it poses for performing an accurate 3D reconstruction. We utilize a…

Multi-view photometric stereo (MVPS) is a preferred method for detailed and precise 3D acquisition of an object from images. Although popular methods for MVPS can provide outstanding results, they are often complex to execute and limited to…

Neural radiance fields (NeRFs) have achieved impressive view synthesis results by learning an implicit volumetric representation from multi-view images. To project the implicit representation into an image, NeRF employs volume rendering…

Acoustic sonar imaging systems are widely used for underwater surveillance in both civilian and military sectors. However, acquiring high-quality sonar datasets for training Artificial Intelligence (AI) models confronts challenges such as…

Typically, an ultrasound flow imaging system employs the conventional delay and sum (DAS) beamformer due to its inherent low complexity. But the conventional DAS technique offers poor contrast, low imaging resolution, and limited…

This study explores the application of self-supervised learning (SSL) for improved target recognition in synthetic aperture sonar (SAS) imagery. The unique challenges of underwater environments make traditional computer vision techniques,…

Accurate detection and segmentation of marine debris is important for keeping the water bodies clean. This paper presents a novel dataset for marine debris segmentation collected using a Forward Looking Sonar (FLS). The dataset consists of…