相关论文: Sonar Image Datasets: A Comprehensive Survey of Re…

We provide a comprehensive evaluation of salient object detection (SOD) models. Our analysis identifies a serious design bias of existing SOD datasets which assumes that each image contains at least one clearly outstanding salient object in…

Automatic underground parking has attracted considerable attention as the scope of autonomous driving expands. The auto-vehicle is supposed to obtain the environmental information, track its location, and build a reliable map of the…

A recurring focus of the deep learning community is towards reducing the labeling effort. Data gathering and annotation using a search engine is a simple alternative to generating a fully human-annotated and human-gathered dataset. Although…

Underwater surveys provide long-term data for informing management strategies, monitoring coral reef health, and estimating blue carbon stocks. Advances in broad-scale survey methods, such as robotic underwater vehicles, have increased the…

For autonomous navigation and robotic applications, sensing the environment correctly is crucial. Many sensing modalities for this purpose exist. In recent years, one such modality that is being used is in-air imaging sonar. It is ideal in…

Self-supervised learning has proved to be a powerful approach to learn image representations without the need of large labeled datasets. For underwater robotics, it is of great interest to design computer vision algorithms to improve…

In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection…

This paper introduces Synthetic Enclosed Echoes (SEE), a novel dataset designed to enhance robot perception and 3D reconstruction capabilities in underwater environments. SEE comprises high-fidelity synthetic sonar data, complemented by a…

Simultaneous localization and mapping (SLAM) is a critical capability for any autonomous underwater vehicle (AUV). However, robust, accurate state estimation is still a work in progress when using low-cost sensors. We propose enhancing a…

Passive sonar signals contain complex characteristics often arising from environmental noise, vessel machinery, and propagation effects. While convolutional neural networks (CNNs) perform well on passive sonar classification tasks, they can…

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…

As one of the most important underwater sensing technologies, forward-looking sonar exhibits unique imaging characteristics. Sonar images are often affected by severe speckle noise, low texture contrast, acoustic shadows, and geometric…

Synthetic aperture sonar (SAS) measures a scene from multiple views in order to increase the resolution of reconstructed imagery. Image reconstruction methods for SAS coherently combine measurements to focus acoustic energy onto the scene.…

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…

Underwater Vehicles have become more sophisticated, driven by the off-shore sector and the scientific community's rapid advancements in underwater operations. Notably, many underwater tasks, including the assessment of subsea…

Synthetic Aperture Radar (SAR) and optical imagery provide complementary strengths that constitute the critical foundation for transcending single-modality constraints and facilitating cross-modal collaborative processing and intelligent…

Optical-SAR image matching is a fundamental task for image fusion and visual navigation. However, all large-scale open SAR dataset for methods development are collected from single platform, resulting in limited satellite types and spatial…

Utilizing the complementary strengths of wavelength-specific range or depth sensors is crucial for robust computer-assisted tasks such as autonomous driving. Despite this, there is still little research done at the intersection of optical…

Maritime environmental sensing requires overcoming challenges from complex conditions such as harsh weather, platform perturbations, large dynamic objects, and the requirement for long detection ranges. While cameras and LiDAR are commonly…

The Segment Anything Model (SAM) has revolutionized natural image segmentation, nevertheless, its performance on underwater images is still restricted. This work presents AquaSAM, the first attempt to extend the success of SAM on underwater…