{"paper":{"title":"Time and Cost-Efficient Bathymetric Mapping System using Sparse Point Cloud Generation and Automatic Object Detection","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.RO","eess.IV"],"primary_cat":"cs.CV","authors_text":"Andres Pulido, Andrew Ortega, Antonio Diaz, Jaejeong Shin, Peter Ifju, Ruoyao Qin","submitted_at":"2022-10-19T02:58:08Z","abstract_excerpt":"Generating 3D point cloud (PC) data from noisy sonar measurements is a problem that has potential applications for bathymetry mapping, artificial object inspection, mapping of aquatic plants and fauna as well as underwater navigation and localization of vehicles such as submarines. Side-scan sonar sensors are available in inexpensive cost ranges, especially in fish-finders, where the transducers are usually mounted to the bottom of a boat and can approach shallower depths than the ones attached to an Uncrewed Underwater Vehicle (UUV) can. However, extracting 3D information from side-scan sonar"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.10263","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2210.10263/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}