BALTIC: A Benchmark and Cross-Domain Strategy for 3D Reconstruction Across Air and Underwater Domains Under Varying Illumination
Robust 3D reconstruction across varying environmental conditions remains a critical challenge for robotic perception, particularly when transitioning between air and water. To address this, we introduce BALTIC, a controlled benchmark designed to systematically evaluate modern 3D reconstruction methods under variations in medium and lighting. The benchmark comprises 13 datasets spanning two media (air and water) and three lighting conditions (ambient, artificial, and mixed), with additional variations in motion type, scanning pattern, and initialization trajectory, resulting in a diverse set of sequences. Our experimental setup features a custom water tank equipped with a monocular camera ...
| Authors | Michele Grimaldi, David Nakath, Oscar Pizarro et al. |
|---|---|
| Primary category | cs.CV |
| Published | 21 April 2026 |
| Last updated at source | 28 April 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.