Underwater perceptionExpert
SonarVoxNet: Diver Detection in 3D Bounding Box using 3D Sonar
This preprint introduces SonarVoxNet, a 3D sonar detector that predicts full 9-degree-of-freedom oriented bounding boxes for divers, plus Diver3D, a public 37,010-frame dataset with full 3D orientation labels. With augmentation and causal refinement, SonarVoxNet reaches 0.774 [email protected] and 0.719 SDS on the held-out test set, far above LiDAR-derived baselines that top out at 0.374 [email protected]. The work shows that pitch and roll of a freely swimming diver can be recovered from sparse acoustic returns, which matters for AUV diver-robot interaction.