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

River bathymetry is critical for many aspects of water resources management. We propose and demonstrate a bathymetry inversion method using a deep-learning-based surrogate for shallow water equations solvers. The surrogate uses the…

Contemporary sea level rise (SLR) research seldom considers enabling effective geovisualisation for the communities. This lack of knowledge transfer impedes raising awareness on climate change and its impacts. The goal of this study is to…

Sonar images are relevant for advancing underwater exploration, autonomous navigation, and ecosystem monitoring. However, the progress depends on data availability. The scarcity of publicly available, well-annotated sonar image datasets…

Remote sensing of the Earth's surface water is critical in a wide range of environmental studies, from evaluating the societal impacts of seasonal droughts and floods to the large-scale implications of climate change. Consequently, a large…

The application of Synthetic Aperture Radar (SAR) techniques to classical radar altimetry offers the potential for greatly improved Earth surface mapping. This paper provides an overview of the progress of SAMOSA, Development of SAR…

With the development of coastal construction, a large amount of human-generated waste, particularly plastic debris, is continuously entering the ocean, posing a severe threat to marine ecosystems. The key to effectively addressing plastic…

Digital terrain maps (DTMs) are an important part of planetary exploration, enabling operations such as terrain relative navigation during entry, descent, and landing for spacecraft and aiding in navigation on the ground. As robotic…

The upcoming Surface Water Ocean Topography (SWOT) satellite altimetry mission is expected to yield two-dimensional high-resolution measurements of Sea Surface Height (SSH), thus allowing for a better characterization of the mesoscale and…

Satellite altimetry combined with data assimilation and optimal interpolation schemes have deeply renewed our ability to monitor sea surface dynamics. Recently, deep learning (DL) schemes have emerged as appealing solutions to address…

This paper describes the design, implementation and testing of a suite of algorithms to enable depth constrained autonomous bathymetric (underwater topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth and a…

Autonomous Underwater Vehicles (AUVs) are increasingly being used to support scientific research and monitoring studies. One such application is in benthic habitat mapping where these vehicles collect seafloor imagery that complements…

Accurate ocean mapping is essential for applications such as bathymetry estimation, seabed characterization, marine litter detection, and ecosystem monitoring. However, ocean remote sensing (RS) remains constrained by limited labeled data…

Scene reconstruction is an essential capability for underwater robots navigating in close proximity to structures. Monocular vision-based reconstruction methods are unreliable in turbid waters and lack depth scale information. Sonars are…

We present a method for generating high-quality watertight manifold meshes from multi-view input images. Existing volumetric rendering methods are robust in optimization but tend to generate noisy meshes with poor topology. Differentiable…

Simultaneous localization and mapping (SLAM) frameworks for autonomous navigation rely on robust data association to identify loop closures for back-end trajectory optimization. In the case of autonomous underwater vehicles (AUVs) equipped…

We introduce SeaSplat, a method to enable real-time rendering of underwater scenes leveraging recent advances in 3D radiance fields. Underwater scenes are challenging visual environments, as rendering through a medium such as water…

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…

In this paper we introduce a semi-analytical model for bathymetry, water turbidity and bottom composition; which is primarily based on the physics-based model, HOPE, of Lee et al. Unlike the model of Lee, which was originally designed to…

We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…

Accurate, detailed, and regularly updated bathymetry, coupled with complex semantic content, is essential for under-mapped shallow-water environments facing increasing climatological and anthropogenic pressures. However, existing approaches…