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Adapting Vision Foundation Models to Acoustics for Pose-Free 3D Sonar Reconstruction

arXiv · AI, language, vision and robotics · article · Sep 5, 2026 · UTC

Vision foundation models trained on Internet-scale RGB datasets enable remarkable capabilities across a range of tasks, from text-to-video generation to few-shot 3D scene reconstruction. An acoustic foundation model trained on large-scale sonar datasets could enable similar capabilities in the underwater domain, where turbidity and low-visibility conditions make conventional RGB foundation models inapplicable. Unfortunately, a lack of freely available large-scale sonar datasets makes training such a model from scratch impractical. In this work, we demonstrate that vision foundation models can

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