Motion Degeneracy in Self-supervised Learning of Elevation Angle Estimation for 2D Forward-Looking Sonar
Yusheng Wang,Yonghoon Ji,Chujie Wu,Hiroshi Tsuchiya,Hajime Asama,Atsushi Yamashita,Yusheng Wang,Yonghoon Ji,Chujie Wu,Hiroshi Tsuchiya,Hajime Asama,Atsushi Yamashita
2D forward-looking sonar is a crucial sensor for underwater robotic perception. A well-known problem in this field is estimating missing information in the elevation direction during sonar imaging. There are demands to estimate 3D information per image for 3D mapping and robot navigation during fly-through missions. Recent learning-based methods have demonstrated their strengths, but there are sti...
