相关论文: Underwater Dense Mapping with the First Compact 3D…
Radar has become an essential sensor for autonomous navigation, especially in challenging environments where camera and LiDAR sensors fail. 4D single-chip millimeter-wave radar systems, in particular, have drawn increasing attention thanks…
Advancing research in fields such as Simultaneous Localization and Mapping (SLAM) and autonomous navigation critically depends on the availability of reliable and reproducible multimodal datasets. While several influential datasets have…
In low-visibility marine environments characterized by turbidity and darkness, acoustic cameras serve as visual sensors capable of generating high-resolution 2D sonar images. However, acoustic camera images are interfered with by complex…
Spectrum sharing, as an approach to significantly improve spectrum efficiency in the era of 6th generation mobile networks (6G), has attracted extensive attention. Radio Environment Map (REM) based low-complexity spectrum sharing is widely…
Advancing towards high automation and autonomous operations is crucial for the future of inland waterway transport (IWT) systems. These systems necessitate robust and precise onboard sensory technologies that can perceive the environment…
With the recent increase in the number of underwater activities, having effective underwater communication systems has become increasingly important. Underwater acoustic communication has been widely used but greatly impaired due to the…
The detection of underwater targets is severely affected by the non-uniform spatial characteristics of marine environmental noise. Additionally, the presence of both natural and anthropogenic acoustic sources, including shipping traffic,…
Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…
The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…
Synthetic aperture imaging systems achieve constant azimuth resolution by coherently summating the observations acquired along the aperture path. At this aim, their locations have to be known with subwavelength accuracy. In underwater…
In this study, we present a novel simultaneous localization and mapping (SLAM) system, VIMS, designed for underwater navigation. Conventional visual-inertial state estimators encounter significant practical challenges in perceptually…
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 study explores the potential of the Ping 360 sonar device, primarily used for navigation, in detecting complex underwater obstacles. The key motivation behind this research is the device's affordability and open-source nature, offering…
Efficiently receiving underwater sound remotely from air is a long-standing challenge in acoustics hindered by the large impedance mismatch at the water-air interface. Here we introduce and experimentally demonstrate a technique for remote…
This paper designs a technique route to generate high-quality panoramic image with depth information, which involves two critical research hotspots: fusion of LiDAR and image data and image stitching. For the fusion of 3D points and image…
Retrieving the missing dimension information in acoustic images from 2D forward-looking sonar is a well-known problem in the field of underwater robotics. There are works attempting to retrieve 3D information from a single image which…
Near surface seafloor properties are needed for recreational, commercial, and military applications. Construction projects on the ocean seafloors often require extensive knowledge about strength, deformability, hydraulic, thermal, acoustic,…
Depth estimation is one of the key technologies in some fields such as autonomous driving and robot navigation. However, the traditional method of using a single sensor is inevitably limited by the performance of the sensor. Therefore, a…
Underwater acoustic target detection in remote marine sensing operations is challenging due to complex sound wave propagation. Despite the availability of reliable sonar systems, target recognition remains a difficult problem. Various…
The increasing demand for underwater vehicles highlights the necessity for robust localization solutions in inspection missions. In this work, we present a novel real-time sonar-based underwater global positioning algorithm for AUVs…