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

arXiv · AI, language, vision and robotics · article · Aug 28, 2026 · UTC

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, creating an ambiguity that prevents individual sonar returns from being localized in three dimensional (3D) space. This complicates the sensor use for 3D scene understanding and precise object detection. We introduce \textbf{uScenes}, a multimodal underwater dataset containing synch

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