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IDA Machine Learning Seminars - Spring 2020



Wednesday, February 26, 3.15 pm, 2020

Underwater Machine Learning - Towards Sidescan Sonar SLAM
Nils Bore
, Dept of Robotics, Perception, and Learning, Royal Institute of Technology (KTH)

Abstract: Since the 1960s, sidescan sonar has been an ubiquitous tool in maritime seafloor surveys, and instrumental for example in the discovery of the RMS Titanic in 1985. While limited by the amount of geometrical information contained in its output signal, sidescan still remains essential in small autonomous underwater vehicles due to its affordability and compact size. In the absence of GPS or pre-placed acoustic beacons, sidescan remains one of the few options for positioning these vehicles with respect to the seabed. In our work, we apply recent developments in neural networks to the task of interpreting sidescan sonar images. To build bathymetric maps, networks are trained to reconstruct the geometry of the seabed from incomplete information. To localize, we develop networks to recognize previously seen places. We also learn latent seabed maps that let us reconstruct the signal from a given area. Our vision is to bring these pieces together in order to achieve a long-sought milestone in the AUV community: effective sidescan sonar localization and mapping (SLAM).

About the speaker: Nils Bore received the M.Sc. degree in mathematical engineering from Faculty of Engineering, Lund University, Lund, Sweden, in 2012 and the Ph.D. degree in computer vision and robotics from the Robotics, Perception and Learning lab, KTH Royal Institute of Technology, Stockholm, Sweden, in 2018. He is currently a PostDoc with the Swedish Maritime Robotics (SMaRC) project at KTH. His research interests include robotic sensing and mapping, with a focus on probablistic reasoning and inference. Recently most of his work has been on applications of specialized neural networks to underwater sonar data. In addition, he is interested in system integration for robust and long-term robotic deployments.

Location: Ada Lovelace
Organizer: Per Sidén


Wednesday, March 25, 3.15 pm, 2020

TBA
TBA

Abstract: TBA
Location: Ada Lovelace
Organizer: Fredrik Lindsten


Wednesday, April 22, 3.15 pm, 2020

TBA
David Sumpter
, Department of Mathematics, Uppsala University.
Abstract: TBA
Location: Ada Lovelace
Organizer: Patrick Lambrix


Wednesday, May 20, 3.15 pm, 2020

TBA
Louis Aslett
, Department of Mathematical Sciences, Durham University.
Abstract: TBA
Location: Ada Lovelace
Organizer: Fredrik Lindsten


Future Seminars

Fall 2020   |   Spring 2021


Past Seminars

Fall 2019   |   Spring 2019   |   Fall 2018   |   Spring 2018   |   Fall 2017   |   Spring 2017    
Fall 2016   |   Spring 2016  |   Fall 2015   |   Spring 2015   |   Fall 2014



The seminars are typically held every fourth Wednesday at 15.15-16.15 in Ada Lovelace.
For further information, or if you want to be notified about the seminars by e-mail, please contact Fredrik Lindsten.


Page responsible: Fredrik Lindsten
Last updated: 2020-02-21