Ahmet Fatih Cinar — accepted AI-conference papers

2026

InsSo3D: Inertial Navigation System and 3D Sonar SLAM for Turbid Environment Inspection

Simon Archieri, Ahmet Fatih Cinar, Shu Pan, Scharff Willners Jonatan, Michele Grimaldi, Ignacio Carlucho +1

ICRA 2026poster

This paper presents InsSo3D, an accurate and efficient method for large-scale 3D Simultaneous Localisation and Mapping (SLAM) using a 3D Sonar and an Inertial Navigation System (INS). Unlike traditional sonar, which produces 2D images containing range and azimuth information but lacks elevation info…

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2026

VISO: Robust Underwater Visual-Inertial-Sonar SLAM with Photometric Rendering for Dense 3D Reconstruction

Shu Pan, Simon Archieri, Ahmet Fatih Cinar, Jonatan Scharff Willners, Ignacio Carlucho, Yvan Petillot

ICRA 2026poster

Visual challenges in underwater environments significantly hinder the accuracy of vision-based localisation and the high-fidelity dense reconstruction. In this paper, we propose VISO, a robust underwater SLAM system that fuses a stereo camera, an inertial measurement unit (IMU), and a 3D sonar to ac…

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2025

3DSSDF: Underwater 3D Sonar Reconstruction Using Signed Distance Functions

Simon Archieri, Juliette Drupt, Ahmet Fatih Cinar, Michele Grimaldi, Ignacio Carlucho, Jonatan Scharff Willners +1

ICRA 2025

Underwater autonomous robotic operations require online localization and 3D mapping. Because of the absence of absolute positioning underwater, these tasks strongly rely on embedded sensors, including proprioceptive or navigation sensors - which can be fused for an odometry, - and exteroceptive sens

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