相关论文: Feature Geometry for Stereo Sidescan and Forward-l…
The perspective-$n$-point (P$n$P) problem is important for robotic pose estimation. It is well studied for optical cameras, but research is lacking for 2D forward-looking sonar (FLS) in underwater scenarios due to the vastly different…
The task of UAV-view geo-localization is to estimate the localization of a query satellite/drone image by matching it against a reference dataset consisting of drone/satellite images. Though tremendous strides have been made in feature…
Sonar systems are frequently used to classify objects at a distance by using the structure of the echoes of acoustic waves as a proxy for the object's shape and composition. Traditional synthetic aperture processing is highly effective in…
Stereo vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…
Forward-looking sonar can capture high resolution images of underwater scenes, but their interpretation is complex. Generic object detection in such images has not been solved, specially in cases of small and unknown objects. In comparison,…
Image feature matching plays a vital role in many computer vision tasks. Although many image feature detection and matching techniques have been proposed over the past few decades, it is still time-consuming to match feature points in two…
This paper provides a comprehensive survey on pioneer and state-of-the-art 3D scene geometry estimation methodologies based on single, two, or multiple images captured under the omnidirectional optics. We first revisit the basic concepts of…
Audio zooming, a signal processing technique, enables selective focusing and enhancement of sound signals from a specified region, attenuating others. While traditional beamforming and neural beamforming techniques, centered on creating a…
The sonar transform in geometric tomography maps functions on the Euclidean half-space to integrals of those functions over hemispheres centered on the boundary hyperplane. We obtain sharp $L^p$-$L^q$ estimates for this transform and new…
We propose a new recursive method for simultaneous estimation of both the pose and the shape of a three-dimensional extended object. The key idea of the presented method is to represent the shape of the object using spherical harmonics,…
X-ray computed tomography is a powerful tool for volumetric imaging, but requires the collection of a large number of low-noise projection images, which is often too time consuming, limiting its applicability. In our previous work…
Stereo matching is crucial for binocular stereo vision. Existing methods mainly focus on simple disparity map fusion to improve stereo matching, which require multiple dense or sparse disparity maps. In this paper, we propose a simple yet…
Simulating sonar devices requires modeling complex underwater acoustics, simultaneously rendering time-efficient data. Existing methods focus on basic implementation of one sonar type, where most of sound properties are disregarded. In this…
This letter proposes a novel approach for compensating target height data in 2D seabed mosaicking for low-visibility underwater perception. Acoustic cameras are effective sensors for sensing the marine environments due to their…
We study the problem of learning association between face and voice, which is gaining interest in the computer vision community lately. Prior works adopt pairwise or triplet loss formulations to learn an embedding space amenable for…
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…
This report presents a connection between the physical acoustics of an object and the topology of the space of echoes resulting from a circular synthetic aperture sonar (CSAS) collection of that object. A simple theoretical model is…
This paper presents a novel technique for camera calibration using a single view that incorporates a spherical mirror. Leveraging the distinct characteristics of the sphere's contour visible in the image and its reflections, we showcase the…
Sonar sensing is fundamental for underwater robotics, but limited by capabilities of AI systems, which need large training datasets. Public data in sonar modalities is lacking. This paper presents the Marine Debris Forward-Looking Sonar…
Accurate estimation of indoor space geometries is vital for constructing precise digital twins, whose broad industrial applications include navigation in unfamiliar environments and efficient evacuation planning, particularly in low-light…