Improved Image-based Pose Regressor Models for Underwater Environments

We investigate the performance of image-based pose regressor models in underwater environments for relocalization. Leveraging PoseNet and PoseLSTM, we regress a 6-degree-of-freedom pose from single RGB images with high accuracy. Additionally, we explore data augmentation with stereo camera images to improve model accuracy. Experimental results demonstrate that the models achieve high accuracy in both simulated and clear waters, promising effective real-world underwater navigation and inspection applications.

Data-aided Underwater Acoustic Ray Propagation Modeling

Acoustic propagation models are widely used in numerous oceanic and other underwater applications. Most conventional models are approximate solutions of the acoustic wave equation, and require accurate environmental knowledge to be available beforehand. Environmental parameters may not always be easily or accurately measurable. While data-driven techniques might allow us to model acoustic propagation without the need for extensive prior environmental knowledge, such techniques tend to be data-hungry and often infeasible in oceanic applications where data collection is difficult and expensive. We propose a data-aided ray physics based high frequency acoustic propagation modeling approach that enables us to train models with only a small amount of data. The proposed framework is not only data-efficient, but also offers flexibility to incorporate varying degrees of environmental knowledge, and generalizes well to permit extrapolation beyond the area where data was collected. We demonstrate the feasibility and applicability of our method through four numerical case studies, and one controlled experiment. We also benchmark our method's performance against classical data-driven techniques.

New Metrics Between Rational Spectra and their Connection to Optimal Transport

We propose a series of metrics between pairs of signals, linear systems or rational spectra, based on optimal transport and linear-systems theory. The metrics operate on the locations of the poles of rational functions and admit very efficient computation of distances, barycenters, displacement interpolation and projections. We establish the connection to the Wasserstein distance between rational spectra, and demonstrate the use of the metrics in tasks such as signal classification, clustering, detection and approximation.