Abstract
Lack of information and perceptual ambiguity are key problems in sonar-based mapping applications. We propose a technique for mapping of underwater environments, building on the finite, positive, sonar beamwidth. Our approach models the free-space covered by each emitted acoustic pulse, employing volumetric techniques to create grid-based submaps of the unoccupied water volumes through images collected from imaging sonars. A representation of the occupied space is obtained by exploration of the free-space frontier. Special attention is given to acoustic image preparation and segmentation. Experimental results are provided based on real data collected from a dam shaft scenario.

Abstract
In man-made marine infrastructures, elements such as pillars, cables or ducts are common, which provide distinctive landmarks for Simultaneous Localization and Mapping purposes. In this work, we concentrate on the application of template matching to acoustic imagery for landmark detection and tracking, building on the modeling of common elements in marine environments. The proposed algorithm extends on the original method by employing a density-based clustering technique for match candidate selection and leveraging vehicle inertial information to identify regions of interest in the acquired images, tackling performance deterioration resulting from motion-induced image deformation and overall acoustic feature ambiguity. Experimental results are provided based on datasets collected in a testing pool environment. © 2024 IEEE.

Abstract
The calibration of sensors stationed along a cable in marine observatories is a time-consuming and expensive operation that involves taking the mooring out of the water periodically. In this paper, we present a method that allows an underwater vehicle to approach a mooring, in order to take reference measurements along the cable for in-situ sensor calibration. We use the vehicle's Mechanically Scanned Imaging Sonar (MSIS) to identify the cable's reflection within the sonar image. After pre-processing the image to remove noise, enhance contour lines, and perform smoothing, we employ three detection steps: 1) selection of regions of interest that fit the cable's reflection pattern, 2) template matching, and 3) a track-before-detect scheme that utilized the vehicle's motion. The later involves building a lattice of template matching responses for a sequence of sonar images, and using the Viterbi algorithm to find the most probable sequence of cable locations that fits the maximum speed assumed for the surveying vessel. Performance is explored in pool and sea trials, and involves an MSIS onboard an underwater vehicle scanning its surrounding to identify a steel-core cable. The results show a sub-meter accuracy in the multi-reverberant pool environment and in the sea trial. For reproducibility, we share our implementation code.

Abstract
Blob features are particularly common in acoustic imagery, as isolated objects (e.g., moorings, mines, rocks) appear as blobs in the acquired images. This work focuses the application of the SIFT, SURF, KAZE and U-SURF feature extraction algorithms for blob feature tracking towards Simultaneous Localization and Mapping applications. We introduce a modified feature extraction and matching pipeline intended to improve feature detection and matching precision, tackling performance deterioration caused by the differences between optical and acoustic imagery. Experimental evaluation was undertaken resorting to datasets collected from a water tank structure.