stereosonar_camera_mapping

This repo contains the code derived from the paper "Towards Versatile Opti-Acoustic Sensor Fusion and Volumetric Mapping for Safe Underwater Navigation" (2026), presents a volumetric mapping framework that fuses a stereo sonar pair with a monocular camera to enable safe underwater navigation under varying visibility conditions.

You are viewing the ROS 1 version of this code, ROS2 version comming soon.

ICRA2026video.1.mp4

Dependencies

This codebase is ROS native and will require a ROS installation. It can be used without ROS, but will require some work.

• ROS Noetic
• Python3

Dependencies:

sudo pip install catkin_tools scipy open3d ultralytics

sudo apt-get install ros-noetic-octomap* ros-noetic-pybind11-catkin

Set Up

    mkdir -p catkin_ws/src
    cd catkin_ws/src
    git clone git@github.com:ivanacollg/stereosonar_camera_mapping.git
    cd ..
    catkin build
    source devel/setup.bash

Data

This data folder contains data used for the paper "Towards Versatile Opti-Acoustic Sensor Fusion and Volumetric Mapping for Safe Underwater Navigation" (2026), which presents a volumetric mapping framework that fuses a stereo sonar pair with a monocular camera to enable safe underwater navigation under varying visibility conditions.

Each folder contains sensor data from each scenario shown in the paper:

• tank_disks
• marina

Each folder contains original ROS1 .bag data and converted data to ROS2 folder.

Additionally, trained image segmentation models for each scenario can be found in in the yolo_models folder. Download and place the model files in the stereosonar_camera_merge/models folder.

Running Code

Download segmentation yolo model and sesnor data before running the code. Then run the code:

    roslaunch stereosonar_camera_merge merge.launch

After starting the code, run the sesor data:

    rosbag play [sample].bag --clock

Running code for different scenarious

Different scenarious contain slightly different parameters for sonar range, monocular camera calibration, etc.

Change the environment argument in the merge.launch file to launch different parameters:

• marina (default)
• tank_disks (for tank tests)

Example:

    roslaunch sonar_camera_reconstruction merge.launch environment:=tank_disks

Citations

If you use this repo or any of the data provided please cite the following work:

@misc{collado2025,
      title={Towards Versatile Opti-Acoustic Sensor Fusion and Volumetric Mapping for Safe Underwater Navigation}, 
      author={Ivana Collado-Gonzalez and John McConnell and Brendan Englot},
      year={2026},
}

Documentation

This repo contains three packages:

stereosonar_camer_merge

This package takes in sensor infomation (orthogonal sonars, camera and odometry), performs sensor fussion and outputs a pointcloud with confidence values.

gpcoctomap

This packages takes in a pointcloud with confidence values and performes confidence driven Gaussian Pocess Volumetric Mapping.

sonar_oculus

This package declares the oculus_sonar msg type used in this work.