19 citations · 55 across the 13 of their papers we have counts for
13 papers
BF-Map: Crowd-sourced Mapping with Bayesian B-spline Fusion
Yiping Xie, Yuxuan Xia, Erik Stenborg +5
Crowd-sourced mapping offers a scalable alternative to creating maps using traditional survey vehicles. Yet, existing methods either rely on prior high-definition (HD) maps or negl…
Score-Based Multibeam Point Cloud Denoising
Li Ling, Yiping Xie, Nils Bore +1
Multibeam echo-sounder (MBES) is the de-facto sensor for bathymetry mapping. In recent years, cheaper MBES sensors and global mapping initiatives have led to exponential growth of…
NeuRSS: Enhancing AUV Localization and Bathymetric Mapping with Neural Rendering for Sidescan SLAM
Yiping Xie, Jun Zhang, Nils Bore +1
Implicit neural representations and neural rendering have gained increasing attention for bathymetry estimation from sidescan sonar (SSS). These methods incorporate multiple observ…
Bathymetric Surveying with Imaging Sonar Using Neural Volume Rendering
Yiping Xie, Giancarlo Troni, Nils Bore +1
This research addresses the challenge of estimating bathymetry from imaging sonars where the state-of-the-art works have primarily relied on either supervised learning with ground-…
A Dense Subframe-based SLAM Framework with Side-scan Sonar
Jun Zhang, Yiping Xie, Li Ling +1
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, lever…
Evaluation of a Canonical Image Representation for Sidescan Sonar
Weiqi Xu, Li Ling, Yiping Xie +2
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.…
A Fully-automatic Side-scan Sonar SLAM Framework
Jun Zhang, Yiping Xie, Li Ling +1
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, usi…
Data-driven Loop Closure Detection in Bathymetric Point Clouds for Underwater SLAM
Jiarui Tan, Ignacio Torroba, Yiping Xie +1
Simultaneous localization and mapping (SLAM) frameworks for autonomous navigation rely on robust data association to identify loop closures for back-end trajectory optimization. In…
Towards Differentiable Rendering for Sidescan Sonar Imagery
Yiping Xie, Nils Bore, John Folkesson
Recent advances in differentiable rendering, which allow calculating the gradients of 2D pixel values with respect to 3D object models, can be applied to estimation of the model pa…
High-Resolution Bathymetric Reconstruction From Sidescan Sonar With Deep Neural Networks
Yiping Xie, Nils Bore, John Folkesson
We propose a novel data-driven approach for high-resolution bathymetric reconstruction from sidescan. Sidescan sonar (SSS) intensities as a function of range do contain some inform…
Neural Network Normal Estimation and Bathymetry Reconstruction from Sidescan Sonar
Yiping Xie, Nils Bore, John Folkesson
Sidescan sonar intensity encodes information about the changes of surface normal of the seabed. However, other factors such as seabed geometry as well as its material composition a…
Optimal Status Update for Caching Enabled IoT Networks: A Dueling Deep R-Network Approach
Chao Xu, Yiping Xie, Xijun Wang +3
In the Internet of Things (IoT) networks, caching is a promising technique to alleviate energy consumption of sensors by responding to users' data requests with the data packets ca…
Optimizing the Long-Term Average Reward for Continuing MDPs: A Technical Report
Chao Xu, Yiping Xie, Xijun Wang +3
Recently, we have struck the balance between the information freshness, in terms of age of information (AoI), experienced by users and energy consumed by sensors, by appropriately…