4 papers
PhysDNet: Physics-Guided Decomposition Network of Side-Scan Sonar Imagery
Can Lei, Hayat Rajani, Nuno Gracias +2
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 e…
Coarse-to-Fine Non-Rigid Registration for Side-Scan Sonar Mosaicking
Can Lei, Nuno Gracias, Rafael Garcia +2
Side-scan sonar mosaicking plays a crucial role in large-scale seabed mapping but is challenged by complex non-linear, spatially varying distortions due to diverse sonar acquisitio…
A Geometrically Consistent Matching Framework for Side-Scan Sonar Mapping
Can Lei, Hayat Rajani, Nuno Gracias +2
Robust matching of side-scan sonar imagery remains a fundamental challenge in seafloor mapping due to view-dependent backscatter, shadows, and geometric distortion. This paper prop…
Stonefish: Supporting Machine Learning Research in Marine Robotics
Michele Grimaldi, Patryk Cieslak, Eduardo Ochoa +6
Simulations are highly valuable in marine robotics, offering a cost-effective and controlled environment for testing in the challenging conditions of underwater and surface operati…