sonar_camera_reconstruction

This repo contains the code derived from the paper "Opti-Acoustic Scene Reconstruction in Highly Turbid Underwater Environments" (2025), which presents an imaging sonar and monocular camera merging system for scene reconstruction.
Paper IEEEXplore | Paper (arXiv)

You are viewing the ROS 1 version of this code, if you are looking for a ROS2 version of this code it can be found here.

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

Set Up

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

Running Code

    roslaunch sonar_camera_reconstruction merge.launch

Download sample data

    rosbag play sample.bag --clock

Data sets

This dataset folder constains all the data used for the paper "Opti-Acoustic Scene Reconstruction in Highly Turbid Underwater Environments" (2025), which presents an imaging sonar and monocular camera merging system for scene reconstruction (Paper (arXiv)).

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

• tank_piers
• tank_sea_wall
• marina_pier
• marina_sea_wall

Additionally, tank scenarious include emulated turbidity examples types 5C, 7C, and 9C. STL files of ground truth structes are likewise included.

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

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_pier (default)
• marina_seawall
• tank (for all tank tests)

Example:

    roslaunch sonar_camera_reconstruction merge.launch environment:=tank

Citations

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

@INPROCEEDINGS{11247733,
  author={Collado-Gonzalez, Ivana and McConnell, John and Szenher, Paul and Englot, Brendan},
  booktitle={2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Opti-Acoustic Scene Reconstruction in Highly Turbid Underwater Environments}, 
  year={2025},
  volume={},
  number={},
  pages={1282-1289},
  keywords={Training;Visualization;Sonar;Turbidity;Object segmentation;Reconstruction algorithms;Sonar navigation;Real-time systems;Reproducibility of results;Image reconstruction},
  doi={10.1109/IROS60139.2025.11247733}}

Documentation

This repo contains three packages:

sonar_camer_merge

This package takes in sensor information (sonars, camera and odometry), performs sensor fussion and outputs a pointcloud.

sonar_oculus

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