相关论文: Physics-informed simulation framework for realisti…
Accurate Speed-of-Sound (SoS) reconstruction from acoustic waveforms is a cornerstone of ultrasound computed tomography (USCT), enabling quantitative velocity mapping that reveals subtle anatomical details and pathological variations often…
Robotic manipulation with deformable objects represents a data-intensive regime in embodied learning, where shape, contact, and topology co-evolve in ways that far exceed the variability of rigids. Although simulation promises relief from…
Ambisonics i.e., a full-sphere surround sound, is quintessential with 360-degree visual content to provide a realistic virtual reality (VR) experience. While 360-degree visual content capture gained a tremendous boost recently, the…
We investigate the cosmological information in higher-order statistics of the cosmic microwave background (CMB) lensing convergence field for a near-term experiment with noise properties similar to the Simons Observatory (SO). Using a fully…
Simulation systems have become an essential component in the development and validation of autonomous driving technologies. The prevailing state-of-the-art approach for simulation is to use game engines or high-fidelity computer graphics…
Scan matching is a widely used technique in state estimation. Point-cloud alignment, one of the most popular methods for scan matching, is a weighted least-squares problem in which the weights are determined from the inverse covariance of…
Place recognition using SOund Navigation and Ranging (SONAR) images is an important task for simultaneous localization and mapping(SLAM) in underwater environments. This paper proposes a robust and efficient imaging SONAR based place…
Acoustic sonar image analysis plays a critical role in object detection and classification, with applications in both civilian and defense domains. Despite the availability of real and synthetic datasets, existing AI models that achieve…
We present the 'simage' software suite for the simulation of artificial extragalactic images, based empirically around real observations of the Hubble Ultra Deep Field (UDF). The simulations reproduce galaxies with realistic and complex…
Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers usually apply some…
Combining synthetic aperture sonar (SAS) imagery with optical images for underwater object classification has the potential to overcome challenges such as water clarity, the stability of the optical image analysis platform, and strong…
Accurate real-time buoyancy modeling is essential for high-fidelity Autonomous Underwater Vehicle (AUV) simulations, yet NVIDIA Isaac Sim lacks a native buoyancy system, requiring external solutions for precise underwater physics. This…
This paper introduces a new framework for supervised sound source localization referred to as virtually-supervised learning. An acoustic shoe-box room simulator is used to generate a large number of binaural single-source audio scenes.…
This paper presents the initial stages in the development of a deep learning classifier for generalised Resident Space Object (RSO) characterisation that combines high-fidelity simulated light curves with transfer learning to improve the…
Side-scan sonar (SSS) imagery is widely used for seafloor mapping and underwater remote sensing, yet the measured intensity is strongly influenced by seabed reflectivity, terrain elevation, and acoustic path loss. This entanglement makes…
Benthic habitat mapping is fundamental for understanding marine ecosystems, guiding conservation efforts, and supporting sustainable resource management. Yet, the scarcity of large, annotated datasets limits the development and benchmarking…
Reconstructing objects from real world data and rendering them at novel views is critical to bringing realism, diversity and scale to simulation for robotics training and testing. In this work, we present NeuSim, a novel approach that…
Spatial audio is fundamental to immersive virtual experiences, yet synthesizing high-fidelity binaural audio from sparse observations remains a significant challenge. Existing methods typically rely on implicit neural representations…
High resolution underwater 3D scene reconstruction is crucial for various applications, including construction, infrastructure maintenance, monitoring, exploration, and scientific investigation. Prior work has leveraged the complementary…
In mixed reality applications, a realistic acoustic experience in spatial environments is as crucial as the visual experience for achieving true immersion. Despite recent advances in neural approaches for Room Impulse Response (RIR)…