4 papers
Multi-Session Multimodal Underwater Mapping with Acoustic and Optical Imaging
Precious Philip-Ifabiyi, Valerio Franchi, Fausto Ferreira +1
Accurate seafloor mapping is essential for marine science, archaeology, and environmental monitoring. However, integrating data from different sensors, such as side-scan sonar and…
Geometric Correction of Side-Scan Sonar Images with Image-Consistent Attitude Refinement
Can Lei, Valerio Franchi, Hayat Rajani +3
Side-scan sonar (SSS) images are susceptible to motion-induced geometric distortion, which degrades their reliability for seabed interpretation and downstream tasks. Existing corre…
Physically Motivated Knowledge Distillation for Blind Geometric Correction of Side-Scan Sonar Imagery
Can Lei, Hayat Rajani, Valerio Franchi +4
Side-scan sonar (SSS) imagery is susceptible to geometric distortions caused by platform motion instability, which degrade geometric consistency and limit downstream analyses such…
eStonefish-Scenes: A Sim-to-Real Validated and Robot-Centric Event-based Optical Flow Dataset for Underwater Vehicles
Jad Mansour, Sebastian Realpe, Hayat Rajani +3
Event-based cameras (EBCs) are poised to transform underwater robotics, yet the absence of labelled event-based datasets for underwater environments severely limits progress in tas…