SonarSweep: Fusing Sonar and Vision for Robust 3D Reconstruction via Plane Sweeping

In three linesSonarSweep fuses sonar and vision for underwater 3D reconstruction via plane sweeping. The end-to-end deep learning framework overcomes single-modality limitations by adapting the plane sweep algorithm for cross-modal fusion. Results in simulation and real-world environments, public release of code and first synchronized stereo-camera and sonar dataset.

Summary generated by Claude — human-verified