4 papers · 1 filter
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…
Efficient Non-Myopic Layered Bayesian Optimization For Large-Scale Bathymetric Informative Path Planning
Alexander Kiessling, Ignacio Torroba, Chelsea Rose Sidrane +3
Informative path planning (IPP) applied to bathymetric mapping allows AUVs to focus on feature-rich areas to quickly reduce uncertainty and increase mapping efficiency. Existing me…
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-…