Benchmarking 3D Reconstruction for Under-Ice Robotic Perception in Arctic Environments

arXiv:2610.19097 · cs.RO · Submitted 2026-10-13 · Read on arXiv

cs.RO

Submitted: 2026-10-13

Updated: 2026-10-13

Comments: Presented at the ICRA 2026 Workshop "From Sea to Space: Advancing Perception in Harsh Domains" (S2S), Vienna, Austria, June 1, 2026. 8 figures, 2 tables. Workshop: https://sites.google.com/view/icra-2026-s2s-perception/

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmarking — 1× in this paper · explained in 4 episodes

Sources

• Depth Anything 3: Recovering the Visual Space from Any Views
• Self-Supervised Monocular Depth Underwater
• Underwater Monocular Metric Depth Estimation: Real-World Benchmarks and Synthetic Fine-Tuning with Vision Foundation Models
• OceanSim: A GPU-Accelerated Underwater Robot Perception Simulation Framework
• UNav-Sim: A Visually Realistic Underwater Robotics Simulator and Synthetic Data-generation Framework
• StereoAdapter: Adapting Stereo Depth Estimation to Underwater Scenes
• A Preview of HoloOcean 2.0
• Density-aware Chamfer Distance as a Comprehensive Metric for Point Cloud Completion

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