相关论文: A Landmark-Aided Navigation Approach Using Side-Sc…
Benthic habitat mapping is fundamental for understanding marine ecosystems, guiding conservation efforts, and supporting sustainable resource management. Yet, the scarcity of large, annotated datasets limits the development and benchmarking…
DL based Synthetic Aperture Radar (SAR) ship detection has tremendous advantages in numerous areas. However, it still faces some problems, such as the lack of prior knowledge, which seriously affects detection accuracy. In order to solve…
The performance of Automated Recognition (ATR) algorithms on side-scan sonar imagery has shown to degrade rapidly when deployed on non benign environments. Complex seafloors and acoustic artefacts constitute distractors in the form of…
Generating 3D point cloud (PC) data from noisy sonar measurements is a problem that has potential applications for bathymetry mapping, artificial object inspection, mapping of aquatic plants and fauna as well as underwater navigation and…
In challenging environments where traditional sensing modalities struggle, in-air sonar offers resilience to optical interference. Placing a priori known landmarks in these environments can eliminate accumulated errors in autonomous mobile…
Accurate estimation of the sound speed profile (SSP) is essential for underwater acoustic communication, sonar performance, and navigation, as the acoustic wave propagation depends strongly on the SSP. This work considers SSP estimation in…
This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…
Detection of artificial objects from underwater imagery gathered by Autonomous Underwater Vehicles (AUVs) is a key requirement for many subsea applications. Real-world AUV image datasets tend to be very large and unlabelled. Furthermore,…
The underwater world remains largely unexplored, with Autonomous Underwater Vehicles (AUVs) playing a crucial role in sub-sea explorations. However, continuous monitoring of underwater environments using AUVs can generate a significant…
This paper details a new method to recognize and detect underwater objects in real-time sidescan sonar data imagery streams, with case-studies of applications for underwater archeology, and ghost fishing gear retrieval. We first synthesize…
Sidescan sonar is a small and cost-effective sensing solution that can be easily mounted on most vessels. Historically, it has been used to produce high-definition images that experts may use to identify targets on the seafloor or in the…
Recent advances in satellite and communication technologies have significantly improved geographical information and monitoring systems. Global System for Mobile Communications (GSM) and Global Navigation Satellite System (GNSS)…
Side-scan sonar (SSS) images are susceptible to motion-induced geometric distortion, which degrades their reliability for seabed interpretation and downstream tasks. Existing correction methods either exploit image-domain consistency…
With the continuous development of underwater vision technology, more and more remote sensing images could be obtained. In the underwater scene, sonar sensors are currently the most effective remote perception devices, and the sonar images…
Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…
Under the sea, visible spectrum cameras have limited sensing capacity, being able to detect objects only in clear water, but in a constrained range. Considering any sea water condition, sonars are more suitable to support autonomous…
A cost effective approach to remote monitoring of protected areas such as marine reserves and restricted naval waters is to use passive sonar to detect, classify, localize, and track marine vessel activity (including small boats and…
We present a sensor misalignment-tolerant AUV navigation method that leverages measurements from an acoustic array and dead reckoned information. Recent studies have demonstrated the potential use of passive acoustic Direction of Arrival…
Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered…
As autonomous systems increasingly rely on onboard sensing for localization and perception, the parallel tasks of motion planning and state estimation become more strongly coupled. This coupling is well-captured by augmenting the planning…