Preprint
Sep 2026
Odometry-Aided Real-Time Mapping for Underwater Robots Using Forward-Looking Sonar
This work proposes a cascaded feature reconstruction pipeline combining fast Fourier transform (FFT)-based denoising, fast multiscale constant false alarm rate (MCFAR) detection, and gradient-adaptive boundary connection to extract geometric features from degraded sonar images with low latency.
Si-Yuan Du, Kan-Zhong Yao, You-Dong Wang et al.
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