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AquaBEV: Monocular Underwater BEV Occupancy with 3D Sonar Supervision

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

Autonomous underwater robots are widely used for exploration, monitoring, and inspection, where safe navigation depends on understanding the surrounding free and occupied space. Bird's eye view (BEV) occupancy provides such a representation, but predicting it from a single underwater RGB image is difficult due to limited, unreliable geometric cues from appearance alone. 3D imaging sonar offers complementary geometric measurements to supervise this task. We introduce AquaBEV, a monocular underwater occupancy model that predicts local BEV occupancy from a single RGB image, using paired 3D imagin

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