相关论文: Underwater Dense Mapping with the First Compact 3D…

3D situational awareness is critical for any autonomous system. However, when operating underwater, environmental conditions often dictate the use of acoustic sensors. These acoustic sensors are plagued by high noise and a lack of 3D…

Autonomous navigation in 3D is a fundamental problem for autonomy. Despite major advancements in terrestrial and aerial settings due to improved range sensors including LiDAR, compact sensors with similar capabilities for underwater robots…

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…

Accurate 3D volumetric mapping is critical for autonomous underwater vehicles operating in obstacle-rich environments. Vision-based perception provides high-resolution data but fails in turbid conditions, while sonar is robust to lighting…

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…

Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…

With the growing interest in underwater exploration and monitoring, Autonomous Underwater Vehicles (AUVs) have become essential. The recent interest in onboard Deep Learning (DL) has advanced real-time environmental interaction capabilities…

Recent work has achieved dense 3D reconstruction with wide-aperture imaging sonar using a stereo pair of orthogonally oriented sonars. This allows each sonar to observe a spatial dimension that the other is missing, without requiring any…

We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…

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…

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…

In this paper, we address the challenging problem of data association for underwater SLAM through a novel method for sonar image correspondence using learned features. We introduce SONIC (SONar Image Correspondence), a pose-supervised…

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…

Simultaneous localization and mapping (SLAM), i.e., the reconstruction of the environment represented by a (3D) map and the concurrent pose estimation, has made astonishing progress. Meanwhile, large scale applications aiming at the data…

Despite substantial technological advancements, the comprehensive mapping of surface water, particularly smaller bodies (<1ha), continues to be a challenge due to a lack of robust, scalable methods. Standard methods require either training…

This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike traditional sonar, which produces 2D images…

Autonomous navigation in underwater environments presents challenges due to factors such as light absorption and water turbidity, limiting the effectiveness of optical sensors. Sonar systems are commonly used for perception in underwater…

Sound can convey significant information for spatial reasoning in our daily lives. To endow deep networks with such ability, we address the challenge of dense indoor prediction with sound in both 2D and 3D via cross-modal knowledge…

Efficient localization in underwater sensor networks faces challenges due to limited bandwidth, energy constraints, and hardware complexity. Traditional systems separate sensing and communication, often resulting in inefficient resource…

Imaging sonar produces clear images in underwater environments, independent of water turbidity and lighting conditions. The next generation 2D forward looking sonars are compact in size and able to generate high-resolution images which…