5 papers
BF-Map: Crowd-sourced Mapping with Bayesian B-spline Fusion
Yiping Xie, Yuxuan Xia, Erik Stenborg +5
Crowd-sourced mapping offers a scalable alternative to creating maps using traditional survey vehicles. Yet, existing methods either rely on prior high-definition (HD) maps or negl…
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…
Score-Based Multibeam Point Cloud Denoising
Li Ling, Yiping Xie, Nils Bore +1
Multibeam echo-sounder (MBES) is the de-facto sensor for bathymetry mapping. In recent years, cheaper MBES sensors and global mapping initiatives have led to exponential growth of…
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-…