Towards Scaling Marine Perception with Synthetic Data

arXiv:2609.20680 · cs.RO, cs.CV · Submitted 2026-09-17 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-17

Updated: 2026-09-17

Code: https://github.com/umfieldrobotics/OceanSim

Terminology

• Benchmark — 7× in this paper · explained in 2 episodes
• Generalization — 6× in this paper · explained in 13 episodes
• Synthetic Data Generation — 6× in this paper · explained in 5 episodes
• Transformer — 5× in this paper · explained in 2 episodes
• Fidelity — 4× in this paper · explained in 2 episodes
• Sim-to-Real Gap — 4× in this paper · explained in 6 episodes
• Generalizability — 3× in this paper · explained in 6 episodes
• Synthetic Data Generation Pipeline — 3× in this paper · explained in 2 episodes
• Generative Model — 2× in this paper · explained in 2 episodes
• Generative Models — 2× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 4 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Domain Shift — 1× in this paper · explained in 4 episodes
• Elias — 1× in this paper · explained in 2 episodes
• F1 Score — 1× in this paper · explained in 3 episodes
• Human-in-the-Loop — 1× in this paper · explained in 3 episodes
• Physically-Based Rendering — 1× in this paper
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Segmentation Masks — 1× in this paper · explained in 2 episodes

Sources

• A Preview of HoloOcean 2.0
• LOTUSim: Multi-Domain Simulator for Marine Robotics
• Underwater Object Detection in the Era of Artificial Intelligence: Current, Challenge, and Future
• SonarSweep: Fusing Sonar and Vision for Robust 3D Reconstruction via Plane Sweeping
• SynTable: A Synthetic Data Generation Pipeline for Unseen Object Amodal Instance Segmentation of Cluttered Tabletop Scenes
• Syn2Real Domain Generalization for Underwater Mine-like Object Detection Using Side-Scan Sonar
• SAM 3D: 3Dfy Anything in Images
• Hyper3D: Efficient 3D Representation via Hybrid Triplane and Octree Feature for Enhanced 3D Shape Variational Auto-Encoders
• SurfSLAM: Sim-to-Real Underwater Stereo Reconstruction For Real-Time SLAM
• Infinite Leagues Under the Sea: Photorealistic 3D Underwater Terrain Generation by Latent Fractal Diffusion Models

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