相关论文: A Landmark-Aided Navigation Approach Using Side-Sc…
This paper introduces a statistical model and corresponding sequential Bayesian estimation method for terrain-based navigation using side-scan sonar (SSS) data. The presented approach relies on slant range measurements extracted from the…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is frequently deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, using side-scan images to perform simultaneous localization and…
Side-scan sonar (SSS) is a lightweight acoustic sensor that is commonly deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, leveraging side-scan images for simultaneous localization and…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…
Acoustic sensors play an important role in autonomous underwater vehicles (AUVs). Sidescan sonar (SSS) detects a wide range and provides photo-realistic images in high resolution. However, SSS projects the 3D seafloor to 2D images, which…
Subsea images measured by the side scan sonars (SSSs) are necessary visual data in the process of deep-sea exploration by using the autonomous underwater vehicles (AUVs). They could vividly reflect the topography of the seabed, but usually…
The transition of seaweed farming to an alternative food source on an industrial scale relies on automating its processes through smart farming, equivalent to land agriculture. Key to this process are autonomous underwater vehicles (AUVs)…
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…
Autonomous underwater vehicles often perform surveys that capture multiple views of targets in order to provide more information for human operators or automatic target recognition algorithms. In this work, we address the problem of…
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…
Various autonomous applications rely on recognizing specific known landmarks in their environment. For example, Simultaneous Localization And Mapping (SLAM) is an important technique that lays the foundation for many common tasks, such as…
High-definition map with accurate lane-level information is crucial for autonomous driving, but the creation of these maps is a resource-intensive process. To this end, we present a cost-effective solution to create lane-level roadmaps…
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…
Implicit neural representations and neural rendering have gained increasing attention for bathymetry estimation from sidescan sonar (SSS). These methods incorporate multiple observations of the same place from SSS data to constrain the…
Passive acoustics can provide a variety of capabilities with applications in oceanographic research and maritime situational awareness. In this paper, we develop a method for the navigation of autonomous underwater vehicles (AUVs) in…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
We propose a novel data-driven approach for high-resolution bathymetric reconstruction from sidescan. Sidescan sonar (SSS) intensities as a function of range do contain some information about the slope of the seabed. However, that…
In the field of deep-sea exploration, sonar is presently the only efficient long-distance sensing device. The complicated underwater environment, such as noise interference, low target intensity or background dynamics, has brought many…
Synthetic aperture imaging systems achieve constant azimuth resolution by coherently summating the observations acquired along the aperture path. At this aim, their locations have to be known with subwavelength accuracy. In underwater…
We introduce a multi-sensor navigation system for autonomous surface vessels (ASV) intended for water-quality monitoring in freshwater lakes. Our mission planner uses satellite imagery as a prior map, formulating offline a mission-level…