Pose-graph SLAM using forward-looking sonar
This letter reports on a real-time simultaneous localization and mapping (SLAM) algorithm
for an underwater robot using an imaging forward-looking sonar and its application in the …
for an underwater robot using an imaging forward-looking sonar and its application in the …
Sensor‐driven autonomous underwater inspections: A receding‐horizon RRT‐based view planning solution for AUVs
Abstract Autonomous Underwater Vehicles (AUVs) are used by the scientific community for
various applications, from collecting well‐distributed high‐quality data to mapping the …
various applications, from collecting well‐distributed high‐quality data to mapping the …
Deep learning from shallow dives: Sonar image generation and training for underwater object detection
Among underwater perceptual sensors, imaging sonar has been highlighted for its
perceptual robustness underwater. The major challenge of imaging sonar, however, arises …
perceptual robustness underwater. The major challenge of imaging sonar, however, arises …
Robust inertial-aided underwater localization based on imaging sonar keyframes
This article focuses on feature-based underwater localization and navigation for
autonomous underwater vehicles (AUVs) using 2-D imaging sonar measurements. The …
autonomous underwater vehicles (AUVs) using 2-D imaging sonar measurements. The …
Degeneracy-aware imaging sonar simultaneous localization and mapping
High-frequency imaging sonar sensors have recently been applied to aid underwater
vehicle localization, by providing frame-to-frame odometry measurements or loop closures …
vehicle localization, by providing frame-to-frame odometry measurements or loop closures …
Feature-based SLAM for imaging sonar with under-constrained landmarks
Recent algorithms have demonstrated the feasibility of underwater feature-based SLAM
using imaging sonar. But previous methods have either relied on manual feature extraction …
using imaging sonar. But previous methods have either relied on manual feature extraction …
Wide aperture imaging sonar reconstruction using generative models
In this paper we propose a new framework for reconstructing underwater surfaces from wide
aperture imaging sonar sequences. We demonstrate that when the leading object edge in …
aperture imaging sonar sequences. We demonstrate that when the leading object edge in …
A volumetric albedo framework for 3D imaging sonar reconstruction
E Westman, I Gkioulekas… - 2020 IEEE International …, 2020 - ieeexplore.ieee.org
We present a novel framework for object-level 3D underwater reconstruction using imaging
sonar sensors. We demonstrate that imaging sonar reconstruction is analogous to the …
sonar sensors. We demonstrate that imaging sonar reconstruction is analogous to the …
Data augmentation using image translation for underwater sonar image segmentation
In underwater environment, the study of object recognition is an important basis for
implementing an underwater unmanned vessel. For this purpose, abundant experimental …
implementing an underwater unmanned vessel. For this purpose, abundant experimental …
Conditional GANs for sonar image filtering with applications to underwater occupancy mapping
Underwater robots typically rely on acoustic sensors like sonar to perceive their
surroundings. However, these sensors are often inundated with multiple sources and types …
surroundings. However, these sensors are often inundated with multiple sources and types …