Investigating underwater environments using Multi-Beam Echo Sounder (MBES) point cloud registration technology is a critical yet underdeveloped area in oceanographic research. This paper presents a fast, deterministic Branch-and-Bound (BnB) method with four degrees of freedom, which combines Inertial Measurement Unit (IMU) data with MBES point cloud data for precise registration. Given the prevalence of outliers and noise in u...

In the field of underwater perception and detection, side-scan sonar (SSS) plays an indispensable role. However, the imaging mechanism of SSS results in slow information acquisition and high complexity, significantly hindering the advancement of downstream data-driven applications. To address this challenge, we designed an SSS image generator based on diffusion models. We developed a data collection system based on Autonomous...