# OASIS: Real-Time Opti-Acoustic Sensing for Intervention Systems in Unstructured Environments

arXiv: https://arxiv.org/abs/2508.12071 · HTML: https://mlsanity.com/paper/2508.12071/

## Key facts

- Cited by 2 papers in the map (data through 19 Oct 2026).
- Placed in Underwater scene reconstruction, one of 15 directions in 3D reconstruction and neural rendering.
- Builds on 9 of its 38 references that are in the map.
- First posted on arXiv 16 Aug 2025.

## Placed in

- 3D reconstruction and neural rendering / [Underwater scene reconstruction](https://mlsanity.com/recon3d/underwater-scene-reconstruction/)

## Builds on (most cited first, 9 of 9)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstruction](https://mlsanity.com/paper/2106.10689/) (2021)
- [Highly Accurate Dichotomous Image Segmentation](https://mlsanity.com/paper/2203.03041/) (2022)
- [WaterSplatting: Fast Underwater 3D Scene Reconstruction Using Gaussian Splatting](https://mlsanity.com/paper/2408.08206/) (2024)
- [SeaSplat: Representing Underwater Scenes with 3D Gaussian Splatting and a Physically Grounded Image Formation Model](https://mlsanity.com/paper/2409.17345/) (2024)
- [AONeuS: A Neural Rendering Framework for Acoustic-Optical Sensor Fusion](https://mlsanity.com/paper/2402.03309/) (2024)
- [Hybrid Visual SLAM for Underwater Vehicle Manipulator Systems](https://mlsanity.com/paper/2112.03826/) (2021)
- [Spatial Acoustic Projection for 3D Imaging Sonar Reconstruction](https://mlsanity.com/paper/2206.02840/) (2022)
- [Opti-Acoustic Semantic SLAM with Unknown Objects in Underwater Environments](https://mlsanity.com/paper/2403.12837/) (2024)

## Built on by (most cited first, 2 of 2)

- [Sonar-MASt3R: Real-Time Opti-Acoustic Fusion in Turbid, Unstructured Environments](https://mlsanity.com/paper/2603.13585/) (2026)
- [SURGE: Sonar-fUsed Reconstruction and localization via image-gated Graph Estimation](https://mlsanity.com/paper/2610.07472/) (2026)

## Abstract (arXiv)

High resolution underwater 3D scene reconstruction is crucial for various applications, including construction, infrastructure maintenance, monitoring, exploration, and scientific investigation. Prior work has leveraged the complementary sensing modalities of imaging sonars and optical cameras for opti-acoustic 3D scene reconstruction, demonstrating improved results over methods which rely solely on either sensor. However, while most existing approaches focus on offline reconstruction, real-time spatial awareness is essential for both autonomous and piloted underwater vehicle operations. This paper presents OASIS, an opti-acoustic fusion method that integrates data from optical images with voxel carving techniques to achieve real-time 3D reconstruction unstructured underwater workspaces. Our approach utilizes an "eye-in-hand" configuration, which leverages the dexterity of robotic manipulator arms to capture multiple workspace views across a short baseline. We validate OASIS through tank-based experiments and present qualitative and quantitative results that highlight its utility for underwater manipulation tasks.