Score-Based Multibeam Point Cloud Denoising
Published in IEEE/OES Autonomous Underwater Vehicles (AUV) Symposium, 2024
Score-based network for multibeam point cloud outlier detection and denoising.
Publications
The complete list of my articles can be found on my Google Scholar profile.
Swirls and Scoops: Ice Base Melt Revealed by Multibeam Imagery of An Antarctic Ice Shelf
Published in Science Advances, 2024
This paper reveals the imprint that ice shelf basal melting leaves on the ice using high-resolution multibeam maps of the underside of Dotson Ice Shelf, West Antarctica.
Benchmarking Classical and Learning-Based Multibeam Point Cloud Registration
Published in IEEE International Conference on Robotics and Automation (ICRA), 2024
This paper open sources DotsonEast, the first multibeam point cloud registration dataset collected using an Autonomous Underwater Vehicle (AUV) in West Antarctica.
Project Website | Paper | Slides | Github
A Fully‐Automatic Side‐Scan Sonar Simultaneous Localization and Mapping Framework
Published in IET Radar, Sonar & Navigation, 2023
This paper presents a feature-based SLAM framework using side-scan sonar, which allows for automatic detection and robust matching of keypoints between paired sonar images.
Evaluation of a Canonical Image Representation for Sidescan Sonar
Published in IEEE OCEANS - Limerick, 2023
This paper proposes a canonical image representation for sidescan sonar (SSS) data, allowing for easier pixel correspondence and template matching between images.
A System for Autonomous Seaweed Farm Inspection with an Underwater Robot
Published in Sensors - Special Issue on Underwater Robotics, 2022
This paper outlines the challenges and opportunities of using an autonomous underwater vehicle (AUV) in a seaweed farm for inspection and monitoring.
