AquaBEV: 3Dソナー監視による単眼水中BEV占有予測
AquaBEV: Monocular Underwater BEV Occupancy with 3D Sonar Supervision
水中ロボットの安全航行のため、単眼RGB画像からBEV占有マップを予測するモデルを提案。訓練時に3Dソナーを幾何学的監視として用い、キャリブレーション不要の極座標表現と因果デコードで精度を向上させた。
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著者: Trung Tien Dong, Shengji Jin, Chen Chen, Yi Sheng, Xiaomin Lin
分類: cs.RO, cs.CV
原文アブストラクト
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 imaging sonar as geometric supervision during training. AquaBEV maps visual features into a calibration free polar representation and applies causal decoding along the range dimension before reconstructing the prediction in Cartesian BEV coordinates. A controlled underwater occupancy benchmark was established, adapting representative occupancy methods to the same RGB to sonar task under a unified protocol. AquaBEV achieves 31.4 Visible IoU and 38.6 Observed IoU, 4.0% and 4.3% relative improvements over the strongest transferred baseline.