António J. Oliveira

2 accepted papers

2025

From 2D Underwater Imaging Sonar Data to 3D Plane Extraction

António J. Oliveira, Bruno M. Ferreira, Nuno Alexandre Cruz

IROS 2025

Planar surfaces are commonly found in man-made underwater environments and can be employed to support underwater SLAM. This work focuses on 3D plane extraction, building on two-dimensional acoustic scans collected from an imaging sonar. The novel contribution of our algorithm exploits the sonar’s wi

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2024

Underwater Volumetric Mapping using Imaging Sonar and Free-Space Modeling Approach

António J. Oliveira, Bruno M. Ferreira, Nuno A. Cruz

ICRA 2024poster

Lack of information and perceptual ambiguity are key problems in sonar-based mapping applications. We propose a technique for mapping of underwater environments, building on the finite, positive, sonar beamwidth. Our approach models the free-space covered by each emitted acoustic pulse, employing vo…

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