6 papers
SurfSLAM: Sim-to-Real Underwater Stereo Reconstruction For Real-Time SLAM
Onur Bagoren, Seth Isaacson, Sacchin Sundar +6
Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a low-cost means of directly estimating metric depth to support these tasks.…
SonarSplat: Novel View Synthesis of Imaging Sonar via Gaussian Splatting
Advaith V. Sethuraman, Max Rucker, Onur Bagoren +3
In this paper, we present SonarSplat, a novel Gaussian splatting framework for imaging sonar that demonstrates realistic novel view synthesis and models acoustic streaking phenomen…
OceanSim: A GPU-Accelerated Underwater Robot Perception Simulation Framework
Jingyu Song, Haoyu Ma, Onur Bagoren +3
Underwater simulators offer support for building robust underwater perception solutions. Significant work has recently been done to develop new simulators and to advance the perfor…
PUGS: Perceptual Uncertainty for Grasp Selection in Underwater Environments
Onur Bagoren, Marc Micatka, Katherine A. Skinner +1
When navigating and interacting in challenging environments where sensory information is imperfect and incomplete, robots must make decisions that account for these shortcomings. W…
VAIR: Visuo-Acoustic Implicit Representations for Low-Cost, Multi-Modal Transparent Surface Reconstruction in Indoor Scenes
Advaith V. Sethuraman, Onur Bagoren, Harikrishnan Seetharaman +3
Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and…
TURTLMap: Real-time Localization and Dense Mapping of Low-texture Underwater Environments with a Low-cost Unmanned Underwater Vehicle
Jingyu Song, Onur Bagoren, Razan Andigani +2
Significant work has been done on advancing localization and mapping in underwater environments. Still, state-of-the-art methods are challenged by low-texture environments, which i…