SHRUMS：面向紧凑型3D声呐实时水下运动规划的传感器幻觉生成方法
SHRUMS: Sensor Hallucination for Real-time Underwater Motion Planning with a Compact 3D Sonar
AI总结：
针对水下紧凑型3D声呐导航需求，提出SHRUMS水下三维导航流水线，通过虚拟传感器测量值幻觉生成实现实时局部最优导航，已用真实数据验证，近期将开展外场部署。
摘要：
三维自主导航是自主系统的核心基础问题。尽管激光雷达（LiDAR）等测距传感器的发展已大幅推动地面与空中场景的自主导航进步，但具备类似能力的水下机器人紧凑型传感器——即3D声呐——直到近期才得以应用。本文提出一种全新的水下三维导航流水线，命名为SHRUMS（基于3D声呐的鲁棒水下运动规划传感器幻觉生成系统）。据作者所知，SHRUMS是首个集成3D声呐的水下自主导航全栈系统。该流水线在能见度极差的复杂三维环境中运行时，仍具备强鲁棒性。为适配新型传感器数据流的复杂性，同时实现实时局部最优性能，SHRUMS提出“传感器测量值幻觉生成”概念：可根据特定应用需求，从参数任意可调的虚拟不存在传感器中生成测量数据。研究通过真实3D声呐传感器数据验证了所提概念，在挑战性场景下采用真实输入，并实时构建局部地图。全面验证所提方法的外场部署计划将于近期开展。
英文摘要：
Autonomous navigation in 3D is a fundamental problem for autonomy. Despite major advancements in terrestrial and aerial settings due to improved range sensors including LiDAR, compact sensors with similar capabilities for underwater robots have only recently become available, in the form of 3D sonars. This paper introduces a novel underwater 3D navigation pipeline, called SHRUMS (Sensor Hallucination for Robust Underwater Motion planning with 3D Sonar). To the best of the authors' knowledge, SHRUMS is the first underwater autonomous navigation stack to integrate a 3D sonar and demonstrate safe operation in complex 3D environments without reliance on visual input, thereby remaining independent of visibility conditions. To accommodate the intricacies of the novel sensor data stream while achieving real-time locally optimal performance, SHRUMS introduces the concept of hallucinating sensor measurements from non-existent sensors with convenient arbitrary parameters, tailored to application specific requirements. The proposed concepts are validated in simulations informed with real 3D sonar sensor data, in-pool clean-water trials, and field deployments in real conditions with significantly degraded visibility conditions.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
