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arXiv 2025年

作者： Su, Jiayi Zou, Shaofeng Qian, Jingyu Wei, Yan Qu, Fengzhong Yang, Liuqing Guangzhou511458 China The School of Integrated Circuits Tsinghua University Beijing100084 China The Engineering Research Center of Oceanic Sensing Technology and Equipment Ministry of Education Ocean College Zhejiang University Zhoushan316021 China Provincial Key Laboratory of Cutting-edge Scientific Instruments R&D and Application Ocean College Zhejiang University Zhoushan316021 China The Hainan Institute Zhejiang University Sanya572025 China

rejecting outliers before applying classical robust methods is a common approach to increase the success rate of estimation, particularly when the outlier ratio is extremely high (e.g. 90%). However, this method often relies on sensor- or task-specific characteristics, which may not be easily transferable across different scenarios. In this paper, we focus on the problem of rejecting 2d-3d point correspondence outliers from 2d forward-looking sonar (2d FLS) observations, which is one of the most popular perception device in the underwater field but has a significantly different imaging mechanism compared to widely used perspective cameras and LidAr. We fully leverage the narrow field of view in the elevation of 2d FLS and develop two compatibility tests for different 3d point configurations: (1) In general cases, we design a pairwise length in-range test to filter out overly long or short edges formed from point sets;(2) In coplanar cases, we design a coplanarity test to check if any four correspondences are compatible under a coplanar setting. Both tests are integrated into outlier rejection pipelines, where they are followed by maximum clique searching to identify the largest consistent measurement set as inliers. Extensive simulations demonstrate that the proposed methods for general and coplanar cases perform effectively under outlier ratios of 80% and 90%, respectively. Copyright © 2025, The Authors. All rights reserved.

关键词： Sonar

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A Convex and Global Solution for the PnP Problem in 2d Forward-Looking Sonar

arXiv

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arXiv 2025年

作者： Su, Jiayi Qian, Jingyu Yang, Liuqing Yuan, Yufan Fu, Yanbing Wu, Jie Wei, Yan Qu, Fengzhong Guangzhou511458 China Engineering Research Center of Oceanic Sensing Technology and Equipment Ministry of Education Ocean College Zhejiang University Zhoushan316021 China Provincial Key Laboratory of Cutting-edge Scientific Instruments R&D and Application Ocean College Zhejiang University Zhoushan316021 China Hainan Institute of Zhejiang University Sanya572025 China Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology 999077 Hong Kong

The perspective-n-point (PnP) problem is important for robotic pose estimation. It is well studied for optical cameras, but research is lacking for 2d forward-looking sonar (FLS) in underwater scenarios due to the vastly different imaging principles. In this paper, we demonstrate that, despite the nonlinearity inherent in sonar image formation, the PnP problem for 2d FLS can still be effectively addressed within a point-to-line (PtL) 3d registration paradigm through orthographic approximation. The registration is then resolved by a duality-based optimal solver, ensuring the global optimality. For coplanar cases, a null space analysis is conducted to retrieve the solutions from the dual formulation, enabling the methods to be applied to more general cases. Extensive simulations have been conducted to systematically evaluate the performance under different settings. Compared to non-reprojection-optimized state-of-the-art (SOTA) methods, the proposed approach achieves significantly higher precision. When both methods are optimized, ours demonstrates comparable or slightly superior precision. Copyright © 2025, The Authors. All rights reserved.

关键词： Image registration

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Haloscope Searching for dark Photons at Q-band with a Novel Coupling Tuning Structure

arXiv

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arXiv 2025年

作者： Yin, Yue Kang, runqi Jiao, Man rong, Xing Laboratory of Spin Magnetic Resonance School of Physical Sciences University of Science and Technology of China Hefei230026 China Anhui Province Key Laboratory of Scientific Instrument Development and Application University of Science and Technology of China Hefei230026 China Hefei National Laboratory University of Science and Technology of China Hefei230088 China Institute for Advanced Study in Physics Zhejiang University Hangzhou310027 China Institute of Quantum Sensing School of Physics Zhejiang University Hangzhou310027 China Zhejiang Key Laboratory of R&D and Application of Cutting-edge Scientific Instruments Zhejiang University Hangzhou310027 China

laboratory searching for dark matter is crucial for understanding several fundamental conundrums in physics and cosmology. Most cavity-based haloscope searches focus on the frequency range below 10 GHz, while the parameter space with higher frequency remains rarely explored, due to the challenges lying in the fabrication of microwave cavities. Here we report the first Q-band haloscope searching for dark photons with a 33.141 GHz cavity. A novel coupling tuning structure separated from the cavity was designed so as not to degrade the quality factor of the cavity. We have established the most stringent constraints χ −12 at a confidence level of 90 % in the frequency range from 33.139 GHz to 33.143 GHz, corresponding to the mass of dark photons ranging from 137.05 µeV to 137.07 µeV. The results surpass the previous astronomical constraints by nearly three orders of magnitude. This work has demonstrated the feasibility of dark matter haloscopes at Q band. In the future, the constraints can be further improved by more than one order of magnitude through low-temperature experiments, and the setup can be extended to search for axions, axion-like particles, and high-frequency gravitational waves. © 2025, CC BY.

关键词： dark Matter

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Haloscope searching for dark photons in the Q band with a novel coupling tuning structure

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Physical review d 2025年第9期111卷 095022-095022页

作者： Yue Yin runqi Kang Man Jiao Xing rong Laboratory of Spin Magnetic Resonance School of Physical Sciences Anhui Province Key Laboratory of Scientific Instrument Development and Application University of Science and Technology of China Hefei 230026 China Hefei National Laboratory University of Science and Technology of China Hefei 230088 China Institute for Advanced Study in Physics Zhejiang University Hangzhou 310027 China Institute of Quantum Sensing and School of Physics Zhejiang University Hangzhou 310027 China Zhejiang Key Laboratory of R&D and Application of Cutting-edge Scientific Instruments Zhejiang University Hangzhou 310027 China

laboratory searching for dark matter is crucial for understanding several fundamental conundrums in physics and cosmology. Most cavity-based haloscope searches focus on the frequency range below 10 GHz, while the parameter space with higher frequency remains rarely explored, due to the challenges lying in the fabrication of microwave cavities. Here we report the first Q band haloscope searching for dark photons with a 33.141 GHz cavity. A novel coupling tuning structure separated from the cavity was designed so as not to degrade the quality factor of the cavity. We have established the most stringent constraints χ<2.5×10−12 at a confidence level of 90% in the frequency range from 33.139 to 33.143 GHz, corresponding to the mass of dark photons ranging from 137.05 to 137.07 μeV. The results surpass the previous astronomical constraints by nearly three orders of magnitude. This work has demonstrated the feasibility of dark matter haloscopes in the Q band. In the future, the constraints can be further improved by more than one order of magnitude through low-temperature experiments, and the setup can be extended to search for axions, axion-like particles, and high-frequency gravitational waves.

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New Constraints on dark Photon dark Matter with a Millimeter-Wave dielectric Haloscope

arXiv

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arXiv 2025年

作者： Wei, Guoqing Wu, diguang Kang, runqi Jiang, Qingning Jiao, Man rong, Xing du, Jiangfeng CAS Key Laboratory of Microscale Magnetic Resonance School of Physical Sciences University of Science and Technology of China Hefei230026 China Anhui Province Key Laboratory of Scientific Instrument Development and Application University of Science and Technology of China Hefei230026 China Hefei National Laboratory University of Science and Technology of China Hefei230088 China Institute for Advanced Study in Physics Zhejiang University Hangzhou310027 China Institute of Quantum Sensing School of Physics Zhejiang University Hangzhou310027 China Zhejiang Key Laboratory of R&D and Application of Cutting-edge Scientific Instruments Zhejiang University Hangzhou310027 China

dark matter remains one of the most profound and unresolved mysteries in modern physics. To unravel its nature, numerous haloscope experiments have been implemented across various mass range. However, very few haloscope experiments conducted within millimeter-wave frequency range, which is in the favored mass region for well-motivated dark matter candidates. Here we designed and constructed a millimeter-wave dielectric haloscope featuring a dark matter detector composed of dielectric disks and a mirror. Using this setup, we conducted a search for dark photon dark matter and found no evidence for its existence. Our results established new constraints on the kinetic mixing parameter in the mass range from 387.72 to 391.03 µeV, improving the existing limits by two orders of magnitude. With future enhancements, our system has the potential to explore new parameter space for dark photon as well as axion dark matter within millimeter-wave frequency range. © 2025, CC BY.

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