3 papers
cs.CV2026
Calibration and Comparative Analysis of Forward-Looking Sonar and 3D Sonar for Enhanced Underwater Object Recognition
Aditya Penumarti, Khanh Dong, Zi-Hao Zhang +6
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…
cs.CV2026
uScenes: A Multimodal RGB and 3D Sonar Dataset for Underwater Robot Perception
Trung Tien Dong, Zhenqi Wu, Aditya Penumarti +4
Robust perception is essential for the deployment of autonomous underwater robots. However, optical cameras become unreliable under poor illumination and backscatter. Forward looki…
cs.RO2026
CAVE-NAV: VLM-Based Autonomous 3D Navigation in Underwater Cave Environments
Zhenqi Wu, Yuanjie Lu, Yisheng Zhang +4
Autonomous navigation in underwater cave environments is essential for search-and-rescue operations, scientific exploration, and emergency egress. Traditional navigation systems co…