5 papers · 1 filter
AquaProbe: Efficient Adaptation of Frozen Vision Models for Underwater Images
Md Shihabul Islam Shovo, Nishi Kanta Paul, Trung Dong +1
Reliable visual perception is essential for safe autonomous underwater exploration. Yet vision models pretrained on terrestrial images become less reliable underwater, where turbid…
One Model, Two Worlds: Bidirectional Sonar-Optical Translation
Shengji Jin, Trung Tien Dong, Ahmed Lamidi +3
Translating between imaging sonar and optical cameras is valuable for underwater perception, but supporting both directions with separate models duplicates storage and computation.…
Calibration and Comparative Analysis of Forward-Looking Sonar and 3D Sonar for Enhanced Underwater Object Recognition
Aditya Penumarti, Khanh Dong, Zi-Hao Zhang +6
Sonars generate a significant amount of noise. With the advent of new technology capable of producing full 3D point clouds, the noise is amplified in sparse point clouds, making it…
uScenes: A Multimodal RGB and 3D Sonar Dataset for Underwater Robot Perception
Trung Tien Dong, Zhenqi Wu, Aditya Penumarti +4
Robust perception is essential for the deployment of autonomous underwater robots. However, optical cameras become unreliable under poor illumination and backscatter. Forward looki…
Post Fusion Bird's Eye View Feature Stabilization for Robust Multimodal 3D Detection
Trung Tien Dong, Dev Thakkar, Arman Sargolzaei +1
Camera-LiDAR fusion is widely used in autonomous driving to enable accurate 3D object detection. However, bird's-eye view (BEV) fusion detectors can degrade significantly under dom…