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

Matching sonar images with high accuracy has been a problem for a long time, as sonar images are inherently hard to model due to reflections, noise and viewpoint dependence. Autonomous Underwater Vehicles require good sonar image matching…

In the field of deep-sea exploration, sonar is presently the only efficient long-distance sensing device. The complicated underwater environment, such as noise interference, low target intensity or background dynamics, has brought many…

Deployment and operation of autonomous underwater vehicles is expensive and time-consuming. High-quality realistic sonar data simulation could be of benefit to multiple applications, including training of human operators for post-mission…

In this work, an approach based on a data-driven paradigm to denoise and mosaic acoustic camera images is proposed. Acoustic cameras, also known as 2D forward-looking sonar, could collect high-resolution acoustic images in dark and turbid…

This article discusses the use of a simulated environment to predict algorithm results in the real world. Simulators are crucial in allowing researchers to test algorithms, sensor integration, and navigation systems without deploying…

Medical imaging systems that are designed for producing diagnostically informative images should be objectively assessed via task-based measures of image quality (IQ). Ideally, computation of task-based measures of IQ needs to account for…

Underwater robots typically rely on acoustic sensors like sonar to perceive their surroundings. However, these sensors are often inundated with multiple sources and types of noise, which makes using raw data for any meaningful inference…

Underwater 3D object detection remains one of the most challenging frontiers in computer vision, where traditional approaches struggle with the harsh acoustic environment and scarcity of training data. While deep learning has revolutionized…

Given the importance of datasets for sensing-communication integration research, a novel simulation platform for constructing communication and multi-modal sensory dataset is developed. The developed platform integrates three high-precision…

Navigation in varied and dynamic indoor environments remains a complex task for autonomous mobile platforms. Especially when conditions worsen, typical sensor modalities may fail to operate optimally and subsequently provide inapt input for…

We present in this article a new evaluation method for classification and segmentation of textured images in uncertain environments. In uncertain environments, real classes and boundaries are known with only a partial certainty given by the…

Acoustic sensors play an important role in autonomous underwater vehicles (AUVs). Sidescan sonar (SSS) detects a wide range and provides photo-realistic images in high resolution. However, SSS projects the 3D seafloor to 2D images, which…

Continuum robots are advancing bronchoscopy procedures by accessing complex lung airways and enabling targeted interventions. However, their development is limited by the lack of realistic training and test environments: Real data is…

The preparation of a space-mission that carries out any kind of imaging to detect high-precision low-amplitude variability of its targets requires a robust model for the expected performance of its instruments. This model cannot be derived…

Underwater intervention is an important capability in several marine domains, with numerous industrial, scientific, and defense applications. However, existing perception systems used during intervention operations rely on data from optical…

Accurate acoustic simulations of enclosed spaces require precise boundary conditions, typically expressed through surface impedances for wave-based methods. Conventional measurement techniques often rely on simplifying assumptions about the…

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…

Real-time imaging sonar is crucial for underwater monitoring where optical sensing fails, but its use is limited by low uplink bandwidth and severe sonar-specific artifacts (speckle, motion blur, reverberation, acoustic shadows) affecting…

Sand painting is a process-driven art where visual appearance emerges from granular accumulation. Given a single image, reconstructing a plausible sand painting process requires modeling coherent stroke structures and material-dependent…

Vision-aided wireless sensing is emerging as a cornerstone of 6G mobile computing. While data-driven approaches have advanced rapidly, establishing a precise geometric correspondence between ego-centric visual data and radio propagation…