Cover Image

Towards Training-Free Underwater 3D Object Detection from Sonar Point Clouds: A Comparison of Traditional and Deep Learning Approaches

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Shaukat, M. Salman, Käckenmeister, Yannik, Bader, Sebastian, Kirste, Thomas
Format:	Preprint
Published:	2025
Subjects:	Computer Vision and Pattern Recognition Artificial Intelligence Machine Learning Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Point Cloud Structural Similarity-based Underwater Sonar Loop Detection
by: Jung, Donghwi, et al.
Published: (2024)

Underwater Dense Mapping with the First Compact 3D Sonar
by: Burgul, Chinmay, et al.
Published: (2025)

Sonar-based Deep Learning in Underwater Robotics: Overview, Robustness and Challenges
by: Aubard, Martin, et al.
Published: (2024)

SHRUMS: Sensor Hallucination for Real-time Underwater Motion Planning with a Compact 3D Sonar
by: Vadakkekuruppath, Susheel, et al.
Published: (2025)

VISO: Robust Underwater Visual-Inertial-Sonar SLAM with Photometric Rendering for Dense 3D Reconstruction
by: Pan, Shu, et al.
Published: (2026)

RUSSO: Robust Underwater SLAM with Sonar Optimization against Visual Degradation
by: Pan, Shu, et al.
Published: (2025)

A Sonar-Visual Dataset for Cross-Modal Underwater Robot Perception
by: Chen, Weitung, et al.
Published: (2026)

Robust Imaging Sonar-based Place Recognition and Localization in Underwater Environments
by: Kim, Hogyun, et al.
Published: (2023)

Voxel Mamba: Group-Free State Space Models for Point Cloud based 3D Object Detection
by: Zhang, Guowen, et al.
Published: (2024)

VIMS: A Visual-Inertial-Magnetic-Sonar SLAM System in Underwater Environments
by: Zhang, Bingbing, et al.
Published: (2025)

No More Potentially Dynamic Objects: Static Point Cloud Map Generation based on 3D Object Detection and Ground Projection
by: Woo, Soojin, et al.
Published: (2024)

EROAS: 3D Efficient Reactive Obstacle Avoidance System for Autonomous Underwater Vehicles using 2.5D Forward-Looking Sonar
by: Mane, Pruthviraj, et al.
Published: (2024)

Weakly Supervised Point Clouds Transformer for 3D Object Detection
by: Tang, Zuojin, et al.
Published: (2023)

Rejecting Outliers in 2D-3D Point Correspondences from 2D Forward-Looking Sonar Observations
by: Su, Jiayi, et al.
Published: (2025)

DRACo-SLAM2: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar EquippedUnderwater Robot Teams with Object Graph Matching
by: Huang, Yewei, et al.
Published: (2025)

Semantic Landmark Detection & Classification Using Neural Networks For 3D In-Air Sonar
by: Jansen, Wouter, et al.
Published: (2024)

Learning Which Side to Scan: Multi-View Informed Active Perception with Side Scan Sonar for Autonomous Underwater Vehicles
by: Sethuraman, Advaith V., et al.
Published: (2024)

ROSAR: An Adversarial Re-Training Framework for Robust Side-Scan Sonar Object Detection
by: Aubard, Martin, et al.
Published: (2024)

Harnessing Deep Learning of Point Clouds for Inverse Control of 3D Shape Morphing
by: Wang, Jue, et al.
Published: (2024)

Learning Point Correspondences In Radar 3D Point Clouds For Radar-Inertial Odometry
by: Michalczyk, Jan, et al.
Published: (2025)

Geometry‐Aware 3D Point Cloud Learning for Precise Cutting‐Point Detection in Unstructured Field Environments
by: Hongjun Wang, et al.
Published: (2025)

Leveraging Previous-Traversal Point Cloud Map Priors for Camera-Based 3D Object Detection and Tracking
by: Käppeler, Markus, et al.
Published: (2026)

A Sonar-based AUV Positioning System for Underwater Environments with Low Infrastructure Density
by: Olivastri, Emilio, et al.
Published: (2024)

The Finer Points: A Systematic Comparison of Point-Cloud Extractors for Radar Odometry
by: Preston-Krebs, Elliot, et al.
Published: (2024)

Assessing Vision-Language Models for Perception in Autonomous Underwater Robotic Software
by: Yousaf, Muhammad, et al.
Published: (2026)

MaskPlanner: Learning-Based Object-Centric Motion Generation from 3D Point Clouds
by: Tiboni, Gabriele, et al.
Published: (2025)

ParticleFormer: A 3D Point Cloud World Model for Multi-Object, Multi-Material Robotic Manipulation
by: Huang, Suning, et al.
Published: (2025)

SonarSweep: Fusing Sonar and Vision for Robust 3D Reconstruction via Plane Sweeping
by: Chen, Lingpeng, et al.
Published: (2025)

PIRATR: Parametric Object Inference for Robotic Applications with Transformers in 3D Point Clouds
by: Schwingshackl, Michael, et al.
Published: (2026)

Label-Free Model Failure Detection for Lidar-based Point Cloud Segmentation
by: Bogdoll, Daniel, et al.
Published: (2024)

InsSo3D: Inertial Navigation System and 3D Sonar SLAM for turbid environment inspection
by: Archieri, Simon, et al.
Published: (2026)

Stabilized Adaptive Steering for 3D Sonar Microphone Arrays with IMU Sensor Fusion
by: Jansen, Wouter, et al.
Published: (2024)

SONIC: Sonar Image Correspondence using Pose Supervised Learning for Imaging Sonars
by: Gode, Samiran, et al.
Published: (2023)

Interpretable Affordance Detection on 3D Point Clouds with Probabilistic Prototypes
by: Li, Maximilian Xiling, et al.
Published: (2025)

A Point Cloud Completion Approach for the Grasping of Partially Occluded Objects and Its Applications in Robotic Strawberry Harvesting
by: Abouzeid, Ali, et al.
Published: (2025)

PCR-ORB: Enhanced ORB-SLAM3 with Point Cloud Refinement Using Deep Learning-Based Dynamic Object Filtering
by: Chen, Sheng-Kai, et al.
Published: (2025)

Robust 3D Object Detection from LiDAR-Radar Point Clouds via Cross-Modal Feature Augmentation
by: Deng, Jianning, et al.
Published: (2023)

C3D: Cascade Control with Change Point Detection and Deep Koopman Learning for Autonomous Surface Vehicles
by: Li, Jianwen, et al.
Published: (2024)

Challenges and Advances in Underwater Sonar Systems and AI‐Driven Signal Processing for Modern Naval Operations: A Systematic Review
by: Subhashree Das, et al.
Published: (2025)

Multi-Model 3D Registration: Finding Multiple Moving Objects in Cluttered Point Clouds
by: Jin, David, et al.
Published: (2024)