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