Underwater mapping 2022 - 2023
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BUTTON TEXT Previous page 03 - Underwater Localization and Mapping Based on Multi-Beam Forward Looking Sonar
Authors: Chensheng Cheng, Can Wang, Dianyu Yang, Weidong Liu and Feihu Zhang. Date of publication: 2022 SLAM (Simultaneous Localization And Mapping) plays a vital role in navigation tasks of AUV (Autonomous Underwater Vehicle). However, due to a vast amount of image sonar data and some acoustic equipment’s inherent high latency, it is challenging to implement real-time underwater SLAM on a small AUV. This paper presents a filter based methodology for SLAM algorithms in underwater environments.
04 - Towards seafloor mapping using an affordable micro-UUV
Authors: Emir Cem Gezer, Lin Zhao, Jordan Beason, Mingxi Zhou. Date of publication: 2022 Seafloor mapping and monitoring are essential for creating a sustainable economy and widening our understanding of the ocean environments. However, the cost of conducting underwater operations has always been high. This paper presents the progress on developing an affordable Autonomous Under-water Vehicle (AUV), equipped with an interferometric sonar for seabed mapping at low altitudes or in coastal water.
06 - Virtual maps for autonomous exploration of cluttered underwater environments
Authors: Jinkun Wang, Fanfei Chen, Yewei Huang, John McConnell, Tixiao Shan & Brendan Englot Date of publication: 2022 This paper presents a novel exploration framework for underwater robots operating in cluttered environments, built upon simultaneous localization and mapping (SLAM) with imaging sonar. The proposed system comprises path generation, place recognition forecasting, belief propagation, and utility evaluation using a virtual map, which estimates the uncertainty associated with map cells throughout a robot’s workspace.
07 - Authentication of Underwater Assets
Authors: Balint Z. Teglasy Emil Wengle, John R. Potter, and Sokratis Katsikas Secure digital wireless communication underwater is a crucial issue as the security of digital systems becomes challenged across all domains. The authors of this document address the requirements for security, namely, a confirmation of asset identities, also known as "authentication". They propose and validate an authentication protocol based on the first digital underwater communications standard primarily applicable to AUVs operating around offshore oil and gas facilities but also to other underwater devices.
09 - An Underwater Cooperative Spectrum Sharing Protocol for a Centralized Underwater Cognitive Acoustic Network.
Authors: Changho Yun To efficiently utilize nonexclusive underwater acoustic frequencies, The authors propose an Underwater Cooperative Spectrum Sharing (UCSS) protocol for a centralized underwater cognitive acoustic network consisting mainly of two parts. In the first part, to check the random occurrence of interferers periodically, the time domain is divided into frames that consist of a sensing and a non-sensing sub-frame. Then, they set the ratio of the two sub-frames to enhance the sensing rate via simulations.
11 - A Novel Underwater Image Enhancement Algorithm and an Improved Underwater Biological Detection Pipeline.
Authors: Zheng Liu, Yaoming Zhuang, Pengrun Jia, Chengdong Wu, Hongli Xu, and Zhanlin Liu. The automatic detection and identification of marine organisms are critical for aquaculture resources. However, due to the low quality of underwater images and the characteristics of underwater biological detection, the lack of abundant features can impede traditional hand-designed feature extraction approaches or CNN-based object detection algorithms, particularly in complex aquatic environments. Therefore, this study aimed to perform object detection in underwater environments.
13 - Fundamentals of underwater acoustics
Author: Serkan Aksoy This document explains notions such as sonar equation, acoustic waves, underwater acoustic equations, reverberation, Helmholtz equation, noise sources, cavitation, and target strength.
16 - On the independence of conditions in the definition of linear mapping.
Author: Aslanbek Naziev The authors study the (in)dependence of additivity and homogeneity conditions in the definition of a linear mapping between vector spaces over the same scalar field. Unlike other works on this theme, which deal with particular fields like real or complex numbers, we consider the general case. That enables them to obtain an almost complete picture.
17 - Underwater Acoustic Ranging Between Smartphones
Authors: Tuochao Chen, Justin Chan, Shyamnath Gollakota The authors present a novel underwater system that can perform acoustic ranging between commodity smartphones. To achieve this, they design a real-time underwater ranging protocol that computes the time-of-flight between smartphones. To address the severe underwater multipath, they present a dual- microphone optimization algorithm that can more reliably identify the direct path. Their evaluations show that our system has median errors of 0.48–0.86 m at distances up to 35 m.
02 - A Comprehensive Comparison and Analysis of Several Intensity Modulations Based on the Underwater Photon- Counting Communication System
Authors: Xiaotian Han, Peng Li, Chang Chang, Duorui Gao, Dongquan Zhang, Peixuan Liao, Wei Wang, and Xiaoping Xie This document proposes solutions to the problems of underwater wireless optical communication, which is facing absorption and scattering problems.
08 - Underwater Transmitted Wavefront Manipulation Based on Bubble-Arrayed Acoustic Metasurfaces
Authors: Zhimin Li, Zibin Lin, Longsheng Zeng, Hao Wu, and Xue-Feng Zhu Manipulating underwater acoustic waves along the prescribed trajectory has excellent potential for various applications. Traditional metasurfaces for underwater acoustic modulation usually have complex structural designs and are complicated to manufacture. Here, we propose a simple strategy of embedding air bubbles of different sizes inside the polymer to manipulate the transmitted underwater acoustic wave fields freely.
12 - Marine priority habitat mapping in a Mediterranean conservation area (Gyaros, South Aegean) through multi-platform marine remote sensing techniques.
Authors: Xenophon Dimas, Elias Fakiris, Dimitris Christodoulou, Nikos Georgiou, Maria Geraga, Vasillis Papathanasiou, Sotiris Orfanidis, Spyros Kotomatas, and George Papatheodorou The aim of this study was to present the results of the first complete marine habitat mapping through marine remote sensing techniques in Gyaros Island, a remote island in the Cyclades archipelago with a great historical and ecological value
14 - Underwater image restoration through regularization of coherent structures
Author: Usman Ali, and Muhammad Tariq Mahmood The authors of this paper propose a method for underwater image restoration utilizing a technique that incorporates the potential structural differences between transmission maps and the guidance map.
01 - Learning multiscale pipeline gated fusion for underwater image enhancement.
Authors: Xu Liu, Sen Lin, Zhiyong Tao Evidence suggests that vision is among the most critical factors in marine information exploration. Instead, underwater images are generally of poor quality due to color casts, lack of texture details, and blurred edges. The authors propose the Multiscale Gated Fusion conditional GAN (MGF-cGAN) for underwater image enhancement. The generator of MGF-cGAN consists of Multiscale Feature Extract Module (Ms-FEM) and Gated Fusion Module (GFM). In Ms-FEM, they use three parallel subnets to extract feature information, which can extract richer features than a single branch.
05 - Underwater Hyperspectral Imaging of Arctic Macroalgal Habitats during the Polar Night Using a Novel Mini-ROV-UHI Portable System.
Authors: Natalie Summers, Geir Johnsen, Aksel Mogstad, Håvard Løvås, Glaucia Fragoso, Jørgen Berge This document describes an Underwater Hyperspectral Imager (UHI) deployed on an instrument-carrying platform consisting of two interconnected mini-ROVs (Remotely Operated Vehicle) for the mapping and monitoring of Arctic macroalgal habitats in Kongsfjorden (Svalbard) during the Polar Night.
10 - Lighting the darkness in the sea: A deep learning model for underwater image enhancement.
Authors: Zhen This document thoroughly study the existing underwater image enhancement methods and low- illumination image enhancement methods and propose a new underwater image enhancement network to solve the problem of serious degradation of underwater image quality in a low-illumination environment.
15 - Underwater Optical-Sonar Image Fusion Systems
Author: Hong-Gi Kim, Jungmin Seo, and Soo Mee Kim Unmanned underwater operations using remotely operated vehicles or unmanned surface vehicles are increasing recently, guaranteeing human safety and work efficiency. Optical cameras and multi-beam sonars are generally utilized as imaging sensors in underwater environments. However, the obtained underwater images are difficult to understand intuitively, owing to noise and distortion. This study explains the development of an optical and sonar image fusion system that integrates the color and distance information from two images.
18 - A review of underwater acoustic metamaterials for underwater acoustic equipment.
Authors: Zhenjing Zhu, Ning Hu, Junyi Wu, Wenxin Li, Jiabao Zhao, Maofa Wang, Fanzong Zeng, Huajie Dai, and Yongju Zheng. This document presents a new method for estimating the angular pulse spectrum. The process is based on the Husimi transform of a wave field and can be realized with a short vertical array of nondirectional hydrophones. As a result, one obtains a diagram of the arrival pattern in the time–angle plane. Special attention is paid to sound scattering on a cold synoptic eddy along the waveguide.
22 - An End-to-End Underwater-Image-Enhancement Framework Based on Fractional Integral Retinex and Unsupervised Autoencoder.
Authors: Yang Yu, and Chenfeng Qin Underwater image enhancement faces challenges of light scattering, absorption, and distortion. Instead of using a specific underwater imaging model to mitigate the degradation of underwater images, the authors propose an end-to-end underwater-image- enhancement framework that combines fractional integral-based Retinex and an encoder–decoder network. The proposed variant of Retinex aims to alleviate haze and color distortion in the input image while preserving edges to a large extent by utilizing a modified fractional integral filter.
19 - Angular Spectrum of Acoustic Pulses at Long Ranges.
Authors: Denis V. Makarov, and Leonid E. Konkov This document presents a new method for estimating the angular pulse spectrum. The process is based on the Husimi transform of a wave field and can be realized with a short vertical array of nondirectional hydrophones. As a result, one obtains a diagram of the arrival pattern in the time–angle plane. Special attention is paid to sound scattering on a cold synoptic eddy along the waveguide.
23 - Single underwater image enhancement based on adaptive correction of channel differential and fusion.
Authors: Zefeng Zhao, Zhuang Zhou, Yunting Lai, Tenghui Wang, Shujie Zou, Haohao Cai, and Haijun Xie Clear underwater images are necessary for many underwater applications, while absorption, scattering, and different water conditions will lead to blurring and different color deviations. This paper proposed a fusion-based image enhancement method for various water areas to overcome the limitations of the available color correction and deblurring algorithms. The authors proposed two novel image processing methods, namely, an adaptive channel deblurring method and a color correction method, by limiting the histogram mapping interval.
24 - Self-Supervised Monocular Depth Underwater
Authors: Shlomi Amitai, Itzik Klein, and Tali Treibitz Depth estimation is critical for any robotic system. In the past years, the depth estimation from monocular images has shown significant improvement; however, in the underwater environment, results are still lagging due to appearance changes caused by the medium. The authors suggest training using subsequent frames self-supervised by a reprojection loss, as demonstrated above water. The authors suggest several additions to the self-supervised framework to cope with the underwater environment and achieve state-of-the-art results on a challenging forward-looking underwater dataset.
26 - Underwater environment laser ghost imaging based on Walsh speckle patterns
Authors: Mochou Yang, Yi Wu, and Guoying Feng In an underwater environment, conventional imaging is limited by low sensitivity, resulting in fuzzy images, while ghost imaging can solve this problem. This study proposes underwater laser ghost imaging based on Walsh speckle patterns. According to the simulated and experimental results, noise resistance and a low sampling rate of ghost imaging based on Walsh speckle patterns are proved. As the underwater environment's turbidity increases, the image quality of ghost imaging based on Walsh speckle patterns decreases.
27 - A Transfer-Based Framework for Underwater Target Detection from Hyperspectral Imagery.
Authors: Zheyong Li, Jinghua Li, Pei Zhang, Lihui Zheng, Yilong Shen, Qi Li, Xin Li, and Tong Li The detection of underwater targets through hyperspectral imagery is a relatively novel topic as the assumption of target background independence is no longer valid, making it difficult to detect underwater targets using land target information directly. Meanwhile, deep-learning-based methods have faced challenges regarding the availability of training datasets, especially in underwater conditions. To solve these problems, a transfer-based framework is proposed in this paper, which exploits synthetic data to train deep-learning models and transfers them to real- world applications.
30 - Fast underwater image enhancement based on a generative adversarial framework.
Authors: Yang Guan, Xiaoyan Liu, Zhibin Yu, Yubo Wang, Xingyu Zheng, Shaoda Zhang, and Bing Zheng Underwater image enhancement is a fundamental requirement in the field of underwater vision. Along with the development of deep learning, underwater image enhancement has made remarkable progress. However, most deep learning-based enhancement methods are computationally expensive, restricting their application in real-time large-size underwater image processing. The authors propose a model based on a generative adversarial framework for large-size underwater image enhancement to solve these problems.
31 - FLSea: Underwater Visual-Inertial and Stereo-Vision Forward- Looking Datasets.
Authors: Yelena Randall, and Tali Treibitz Yan The authors collected forward-looking stereo-vision and visual-inertial image sets with two underwater imaging platforms, a stereo camera rig, and an ROV in the Mediterranean and Red Sea. To their knowledge, there is only one other public dataset in the underwater environment with this camera-sensor orientation. These datasets are critical for developing several underwater applications, including autonomous obstacle avoidance, visual odometry, 3D tracking, Simultaneous Localization and Mapping (SLAM), and depth estimation through deep learning.
32 - A New Method for Training CycleGAN to Enhance Images of Cold Seeps in the Qiongdongnan Sea
Authors: Yuanheng Li, Shengxiong Yang, Yuehua Gong, Jingya Cao, Guang Hu, Yutian Deng, Dongmei Tian, and Junming Zhou Unpaired Image-to-Image Translation using Cycle- Consistent Adversarial Networks, also known as CycleGAN, has been broadly studied regarding underwater image enhancement, but it is difficult to apply the model because it can be difficult to train if the dataset used is not appropriate. In this article, the authors devise a new method of building a dataset and choosing the best images based on the widely used Underwater Image Quality Measure (UIQM) scheme to create the dataset.
21 - Flow current field observation with underwater moving acoustic tomography
Authors: Shijie Xu, Rendong Feng, Pan Xu, Zhengliang Hu, Haocai Huang, and Guangming Li Underwater environment observation with underwater acoustic tomography has been considerably developed in recent years. Moving sound transmission can obtain the observation of entire spatial area with sound station moving. Various internal structures, unique surface and submarine boundaries and changing environment constitutes a complex acoustic propagation channel. This paper focus on the inversion method and signal resampling for sound moving transmission. Also, the current field in three-dimensional (3D) scale is also studied.
33 - Towards Mapping of Underwater Structures by a Team of Autonomous Underwater Vehicles
Authors: Marios Xanthidis, Bharat Joshi, Monika Roznere, Weihan Wang, Nathaniel Burgdorfer, Alberto Quattrini Li, Philippos Mordohai, Srihari Nelakuditi, and Ioannis Rekleitis The authors of this paper discuss how to effectively map an underwater structure with a team of robots considering the specific challenges posed by the underwater environment.
34 - Reinforcement learning with parameterized action space and sparse reward for UAV navigation
Authors: Shiying Feng, Xiaofeng Li, Lu Ren, Shuiqing Xu Autonomous navigation of unmanned aerial vehicles (UAVs) is widely used in building rescue systems. As the complexity of the task increases, traditional methods based on environment models are hard to apply. this paper proposes a reinforcement learning (RL) algorithm to solve the UAV navigation problem.
35 - A bio-inspired algorithm in image-based path planning and localization using visual features and maps
Authors: Daniel Short, Tingjun Lei, Chaomin Luo, Daniel W. Carruth, ZhumingDaniel Many underwater image enhancement algorithms have been proposed in the past few years to suppress backscattering noise and improve the signal-to-noise ratio of underwater images. However, these algorithms are mainly focused on underwater image enhancement tasks in a bright environment. Thus, it is still unclear how these algorithms would perform on images acquired in an underwater scene with low illumination. The authors propose a new underwater image enhancement network to bridge this gap and solve the problem of degradation of underwater image quality in a low illumination environment.
20 - An Underwater Target Ranging System based on Binocular Vision
Author: Yian Wang An underwater target ranging and size measurement system based on binocular vision is proposed to measure the distance and size information of underwater targets accurately. The underwater binocular calibration method is used to obtain the underwater parameters of the binocular camera, and the underwater images are calibrated to make them coplanar and aligned.
25 - From shallow sea to deep sea: research progress in underwater image restoration
Authors: Wei Song, Yaling Liu, Dongmei Huang, Bing Zhang,Zhihao Shen, & Huifang Xu This paper aims to systematically review underwater image restoration technology, bridging the gap between shallow-sea and deep-sea image restoration fields through experimental analysis. The authors first categorize shallow-sea image restoration methods into three types: physical model-based methods, prior- based methods, and deep learning-based methods that integrate physical models. The core concepts and characteristics of representative methods are analyzed. The research status and primary challenges in deep- sea image restoration are then summarized.
28 - Polarization-based underwater geolocalization with deep learning
Authors: Xiaoyang Bai, Zuodong Liang, Zhongmin Zhu, Alexander Schwing, David Forsyth, & Viktor Gruev Monitoring water properties using autonomous underwater sampling robots remains a significant challenge due to a lack of underwater geolocalization capabilities. The authors present a new method for underwater geolocalization using deep neural networks trained on approximately 10 million polarization-sensitive images acquired globally, along with camera position sensor data.
29 - Underwater 3D positioning on smart devices
Authors: Tuochao Chen, Justin Chan, & Shyamnath Gollakota The emergence of waterproof mobile and wearable devices designed for underwater activities opens up opportunities for underwater networking and localization capabilities on these devices. The authors present the first underwater acoustic positioning system for smart devices. Unlike conventional systems that use floating buoys as anchors at known locations, they design a system where a dive leader can compute the relative positions of all other divers, without any external infrastructure.