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Onur Bagoren

6 accepted papers

2026

SonarSplat: Novel View Synthesis of Imaging Sonar Via Gaussian Splatting

Advaith Venkatramanan Sethuraman, Max Rucker, Onur Bagoren, Pou-Chun Kung, Nibarkavi Naresh Babu Amutha, Katherine Skinner
ICRA 2026poster

In this paper, we present SonarSplat, a novel Gaussian splatting framework for imaging sonar that demonstrates realistic novel view synthesis and models acoustic streaking phenomena. Our method represents the scene as a set of 3D Gaussians with acoustic reflectance and saturation properties. We deve…

Cited by 0Source ↗PDF ↗Scholar ↗
2025

OceanSim: A GPU-Accelerated Underwater Robot Perception Simulation Framework

Jingyu Song, Haoyu Ma, Onur Bagoren, Advaith Venkatramanan Sethuraman, Yiting Zhang, Katherine A. Skinner
IROS 2025

Underwater simulators offer support for building robust underwater perception solutions. Significant work has recently been done to develop new simulators and to advance the performance of existing underwater simulators. Still, there remains room for improvement on physics-based underwater sensor mo

Cited by 10Source ↗code ↗Scholar ↗
2025

PUGS: Perceptual Uncertainty for Grasp Selection in Underwater Environments

Onur Bagoren, Marc Micatka, Katherine A. Skinner, Aaron Marburg
ICRA 2025

When navigating and interacting in challenging environments where sensory information is imperfect and incomplete, robots must make decisions that account for these shortcomings. We propose a novel method for quantifying and representing such perceptual uncertainty in 3D reconstruction through occup

Cited by 2Source ↗code ↗Scholar ↗
2025

SonarSplat: Novel View Synthesis of Imaging Sonar via Gaussian Splatting

Advaith Venkatramanan Sethuraman, Max Rucker, Onur Bagoren, Pou-Chun Kung, Nibarkavi N. B. Amutha, Katherine A. Skinner
RA-L 2025

In this paper, we present SonarSplat, a novel Gaussian splatting framework for imaging sonar that demonstrates realistic novel view synthesis and models acoustic streaking phenomena. Our method represents the scene as a set of 3D Gaussians with acoustic reflectance and saturation properties. We deve

Cited by 6Source ↗Scholar ↗
2025

VAIR: Visuo-Acoustic Implicit Representations for Low-Cost, Multi-Modal Transparent Surface Reconstruction in Indoor Scenes

Advaith Venkatramanan Sethuraman, Onur Bagoren, Harikrishnan Seetharaman, Dalton Richardson, Joseph Taylor, Katherine A. Skinner
ICRA 2025

Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural representations to enable dense reconstruction of transparent surface

Cited by 0Source ↗code ↗Scholar ↗
2024

TURTLMap: Real-time Localization and Dense Mapping of Low-texture Underwater Environments with a Low-cost Unmanned Underwater Vehicle

Jingyu Song, Onur Bagoren, Razan Andigani, Advaith Sethuraman, Katherine A. Skinner
IROS 2024poster

Significant work has been done on advancing localization and mapping in underwater environments. Still, state-of-the-art methods are challenged by low-texture environments, which is common for underwater settings. This makes it difficult to use existing methods in diverse, real-world scenes. In this…

Cited by 6Source ↗code ↗Scholar ↗