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cs.RO2024
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…
cs.RO2024
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…