相关论文: Physics-informed simulation framework for realisti…

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…

Acoustic sonar imaging systems are widely used for underwater surveillance in both civilian and military sectors. However, acquiring high-quality sonar datasets for training Artificial Intelligence (AI) models confronts challenges such as…

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…

Detecting a diverse range of objects under various driving scenarios is essential for the effectiveness of autonomous driving systems. However, the real-world data collected often lacks the necessary diversity presenting a long-tail…

This paper considers the problem of low-dimensional visualisation of very high dimensional information sources for the purpose of situation awareness in the maritime environment. In response to the requirement for human decision support…

Underwater perception and 3D surface reconstruction are challenging problems with broad applications in construction, security, marine archaeology, and environmental monitoring. Treacherous operating conditions, fragile surroundings, and…

Side-scan sonar (SSS) is a lightweight acoustic sensor that is frequently deployed on autonomous underwater vehicles (AUVs) to provide high-resolution seafloor images. However, using side-scan images to perform simultaneous localization and…

Systematic evaluation of speech separation and enhancement models under moving sound source conditions requires extensive and diverse data. However, real-world datasets often lack sufficient data for training and evaluation, and synthetic…

Object detection in sonar images is a key technology in underwater detection systems. Compared to natural images, sonar images contain fewer texture details and are more susceptible to noise, making it difficult for non-experts to…

This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…

Scalable sensor simulation is an important yet challenging open problem for safety-critical domains such as self-driving. Current works in image simulation either fail to be photorealistic or do not model the 3D environment and the dynamic…

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…

Underwater simulators offer support for building robust underwater perception solutions. Significant work has recently been done to develop new simulators and to advance the performance of existing underwater simulators. Still, there…

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…

Observations of seabed texture with synthetic aperture sonar are dependent upon several factors. In this work, we focus on collection geometry with respect to isotropic and anisotropic textures. The low grazing angle of the collection…

Collecting real-world mobility data is challenging. It is often fraught with privacy concerns, logistical difficulties, and inherent biases. Moreover, accurately annotating anomalies in large-scale data is nearly impossible, as it demands…

In this paper, we present SonarSplat, a novel Gaussian splatting framework for imaging sonar that demonstrates realistic novel view synthesis and models acoustic streaking phenomena. Our method represents the scene as a set of 3D Gaussians…

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…

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…

This paper explores the use of contrastive learning and generative adversarial networks for generating realistic underwater images from synthetic images with uniform lighting. We investigate the performance of image translation models for…