arXiv subjects

Yongkyoon Park

Publications and source records attributed to Yongkyoon Park.

2 recordsLinked to original sources

arXiv2026

Calibration and Comparative Analysis of Forward-Looking Sonar and 3D Sonar for Enhanced Underwater Object Recognition

Sonars generate a significant amount of noise. With the advent of new technology capable of producing full 3D point clouds, the noise is amplified in sparse point clouds, making it challenging to recognize features for navigation, recognition, or reconstruction. To address this challenge, we propose using two different sonar modalities: one that produces a 2D intensity image and another that generates a 3D point cloud. By implementing auto-calibration, we can filter out noisy features between the modalities to enhance feature extraction. Experiments demonstrate that auto-calibration improves performance over manual calibration by 5% and that filtering enhances feature extraction by more than 40% relative to the raw point cloud. Code and datasets are given at https://theaprilab.org/fls-3d-calibrator

cs.CV↗

arXiv2026

A Hybrid Model-Based and Model-Free Framework for Active Multi-View Viewpoint Optimization in Sonar Target Recognition

This paper presents a hybrid model-based and model-free framework for active multi-view target recognition using forward-looking sonar. A convolutional neural network (CNN) provides data-driven observation likelihoods, while Radon-based orientation estimation enables viewpoint-aware sensing without requiring angle annotations. During training, an information-gain-based reward guides a Proximal Policy Optimization (PPO) agent to learn a belief-aware viewpoint selection policy offline. At deployment, the learned policy performs real-time viewpoint selection using only CNN-based belief updates, eliminating the need for computationally expensive online POMDP tree search. Experiments on a marine-debris forward-looking sonar dataset demonstrate that the proposed approach achieves competitive recognition accuracy while reducing sensing steps and motion cost compared to model-based baselines.

cs.RO↗