If you use this code please consider citing us. This has been used to support many projects, a few below.
@inproceedings{
title={Fusing Concurrent Orthogonal Wide-aperture Sonar Images for Dense Underwater 3D Reconstruction},
author={John McConnell, John D. Martin and Brendan Englot},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2020},
organization={IEEE}
}
@inproceedings{
title={Predictive 3D Sonar Mapping of Underwater Environments via Object-specific Bayesian Inference},
author={John McConnell and Brendan Englot},
booktitle={IEEE/RSJ International Conference on Robotics and Automation (ICRA)},
year={2021},
organization={IEEE}
}
@inproceedings{
title={Overhead Image Factors for Underwater Sonar-based SLAM},
author={John McConnell, Fanfei Chen and Brendan Englot},
booktitle={Robotics and Automation Letters (RAL)},
year={2022},
organization={IEEE}
}
For more details please see the project wiki