Sonar 3D Reconstruction

Real-time probabilistic 3D underwater terrain mapping system using Oculus multibeam sonar and Fast-LIO odometry.

Features

IWLO Probability Update: Intensity-Weighted Log-Odds Bayesian mapping
C++ Backend: OpenMP parallel processing for 10x speed improvement
Out-of-Core Storage: Disk-based tile storage for large-scale mapping
Cross-talk Filter: Multibeam sonar noise reduction

Getting Started

Sonar 3D Reconstruction
- Features
- Quick Start
- Configuration
- Topics
- Nodes
- Build
- File Structure
- Coordinate System

API Reference

Indices and tables