SonarSweep: Fusing Sonar and Vision for Robust 3D Reconstruction via Plane Sweeping

ArXi:2511.00392v2 Announce Type: replace-cross Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due to poor visibility and geometric constraints, while sonar is crippled by inherent elevation ambiguity and low resolution. Consequently, prior fusion technique relies on heuristics and flawed geometric assumptions, leading to significant artifacts and an inability to model complex scenes. In this paper, we.