Fig. 3
From: Polarization-based underwater geolocalization with deep learning
a Underwater polarization patterns mainly result from the refraction of light between air-water interfaces and scattering within the water medium. These patterns can be mathematically modeled using Mueller matrices. b The particle filter (PF) pipeline is illustrated with high probability particles shown in red and low probability particles in blue. c, d Our proposed network model includes the RI-ResNet architecture, which replaces each convolution layer with its RI-Conv counterpart and accounts for the radial spatial structure in omnidirectional images. e The RDM architecture involves a bidirectional recurrent network that models temporal dependencies between images