相关论文: Feature Geometry for Stereo Sidescan and Forward-l…

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…

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…

Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due to poor visibility and geometric constraints, while sonar is…

Side-scan sonar mosaicking plays a crucial role in large-scale seabed mapping but is challenged by complex non-linear, spatially varying distortions due to diverse sonar acquisition conditions. Existing rigid or affine registration methods…

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…

A novel approach to improving the performances of confocal scanning imaging is proposed. We experimentally demonstrate its feasibility using acoustic waves. It relies on a new way to encode spatial information using the temporal dimension.…

Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…

Critical maritime infrastructure increasingly demands situational awareness both above and below the surface, yet existing ''seabed-to-sky'' mapping pipelines either rely on GNSS (vulnerable to shadowing/spoofing) or expensive bathymetric…

The collaborative visual perception of multiple Unmanned Aerial Vehicles (UAVs) has increasingly become a research hotspot. Compared to a single UAV equipped with a short-baseline stereo camera, multi-UAV collaborative vision offers a wide…

It is known that epipolar geometry can be computed from three epipolar line correspondences but this computation is rarely used in practice since there are no simple methods to find corresponding lines. Instead, methods for finding…

We propose an optimization technique for 3-D underwater object modeling from 2-D forward-scan sonar images at known poses. A key contribution, for objects imaged in the proximity of the sea surface, is to resolve the multipath artifacts due…

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…

Currently, numerous remote sensing satellites provide a huge volume of diverse earth observation data. As these data show different features regarding resolution, accuracy, coverage, and spectral imaging ability, fusion techniques are…

In this paper, we propose a stereo radargrammetry method using deep learning from airborne Synthetic Aperture Radar (SAR) images. Deep learning-based methods are considered to suffer less from geometric image modulation, while there is no…

We propose a novel method to generate underwater object imagery that is acoustically compliant with that generated by side-scan sonar using the Unreal Engine. We describe the process to develop, tune, and generate imagery to provide…

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…

A method is shown to estimate the position of a radioactive source by fusing the data from a sodium iodide detector and a gyroscope while panning the detector. Based on simple geometry considerations, the search motion of a detector is…

Knowing the geometry of a space is desirable for many applications, e.g. sound source localization, sound field reproduction or auralization. In circumstances where only acoustic signals can be obtained, estimating the geometry of a room is…

Circular Synthetic Aperture Sonar (CSAS) provides a 360{\deg} azimuth view of the seabed, surpassing the limited aperture and mono-view image of conventional side-scan SAS. This makes CSAS a valuable tool for target recognition in mine…

In this work, we propose an extension of conventional image data by an additional channel in which the associated projection properties are encoded. This addresses the issue of sensor-dependent object representation in projection-based…