2 papers
cs.RO2026
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.…
cs.RO2025
MARVO: Marine-Adaptive Radiance-aware Visual Odometry
Sacchin Sundar, Atman Kikani, Aaliya Alam +3
Underwater visual localization remains challenging due to wavelength-dependent attenuation, poor texture, and non-Gaussian sensor noise. We introduce MARVO, a physics-aware, learni…