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Beyond Shallow-Water Photorealism: Physically and Sensor-Grounded Simulation for Deep-Sea Robotics
Many recent underwater simulators emphasize visual realism at the expense of physical fidelity, focusing on shallow-water effects with limited relevance in deep-water environments and high computational cost. In this work, we shift the focus toward deep-sea physical and sensor realism. We present a physics- and sensor-grounded extension of the Stonefish simulator that augments its hydrodynamic models with stochastic IMU and DVL drift, magnetometer disturbances, higher-order hydrodynamics, terramechanics, pressure-driven environmental variability, and physically based underwater optics. These a
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-08-27T09:45:40.000Z
First collected: 2026-09-21T08:51:59.673Z. This is not the publication date.