Yaozhong Cao

OA-Stereo: Self-Supervised Opti-Acoustic Stereo for Robust 3D Perception of Underwater Vehicles

Accurate 3D perception is essential for underwater vehicles in tasks such as seabed mapping, structural reconstruction, and environmental monitoring. However, optical cameras struggle in underwater environments due to light attenuation, scattering, and blurring, while forward-looking sonar suffers f