Author

Jane Shin

2 papers indexed here

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Preprint Aug 2026

uScenes: A Multimodal RGB and 3D Sonar Dataset for Underwater Robot Perception

Robust perception is essential for the deployment of autonomous underwater robots. However, optical cameras become unreliable under poor illumination and backscatter. Forward looking (2D) acoustic sensors remain effective under these conditions, but they measure range and bearing while leaving elevation unresolved, cre...

T. Dong, Zhen-Qiu Wu, Aditya Penumarti et al. · 2 citations

Preprint Aug 2026

Calibration and Comparative Analysis of Forward-Looking Sonar and 3D Sonar for Enhanced Underwater Object Recognition

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 challenging to recognize features for navigation, recognition, or reconstruction. To address this challenge, we propose using two different...

Aditya Penumarti, Khanh Dong, Zi-Hao Zhang et al. · 2 citations