arXiv subjects

Kalin Norman

Publications and source records attributed to Kalin Norman.

3 recordsLinked to original sources

arXiv2026

Beyond the Flat Seafloor: A Closed-Form Two-View Constraint to Aid Sidescan Sonar Reconstruction

Sidescan sonar is a common sensor for both manned and autonomous marine exploration and mapping, yet very few methods build upon or exploit the geometric projection model of the sensor. As sidescan sonar is limited to a 1D range measurement, many approximations are frequently used, including the long-standing assumption of a flat seafloor. Rather than make similar approximations, this paper focuses on a multi-view geometry based approach and formalizes a two-view geometric constraint and proves that a shared feature is constrained to a locus within the intersection of a sphere and a plane. In addition, we characterize what governs the size of the ambiguity locus through Monte Carlo simulation that is grounded in real aperture and mounting geometry for both a surface vessel and an underwater vehicle. We translate additional simulations of relative trajectories for both vehicle platforms into concrete survey-planning guidance. Our results show that locus length is strongly governed by elevation misalignment, and peaks at a moderate oblique crossing angle of approximately 20 degrees, with minimal locus lengths obtained at near parallel and anti-parallel passes.

cs.RO↗

arXiv2025

Feature Geometry for Stereo Sidescan and Forward-looking Sonar

In this paper, we address stereo acoustic data fusion for marine robotics and propose a geometry-based method for projecting observed features from one sonar to another for a cross-modal stereo sonar setup that consists of both a forward-looking and a sidescan sonar. Our acoustic geometry for sidescan and forward-looking sonar is inspired by the epipolar geometry for stereo cameras, and we leverage relative pose information to project where an observed feature in one sonar image will be found in the image of another sonar. Additionally, we analyze how both the feature location relative to the sonar and the relative pose between the two sonars impact the projection. From simulated results, we identify desirable stereo configurations for applications in field robotics like feature correspondence and recovery of the 3D information of the feature.

cs.RO↗

arXiv2018

Physical-Layer Security: Does it Work in a Real Environment?

This paper applies channel sounding measurements to enable physical-layer security coding. The channel measurements were acquired in an indoor environment and used to assess the secrecy capacity as a function of physical location. A variety of Reed-Muller wiretap codes were applied to the channel measurements to determine the most effective code for the environment. The results suggest that deploying physical-layer security coding is a three-point design process, where channel sounding data guides 1) the physical placement of the antennas, 2) the power settings of the transmitter, and 3) the selection of wiretap coding.

cs.CR↗