Beyond Shallow-Water Photorealism: Physically and Sensor-Grounded Simulation for Deep-Sea Robotics

2026-08-27

AI Summary

本文针对深海环境下物理和传感器真实感不足的问题，通过扩展Stonefish模拟器，引入多种物理和环境因素，提高深海机器人仿真准确性。

Abstract

Many recent underwater simulators emphasize visual realism at the expense of physical fidelity, focusing on shallow-water effects with limited relevance in deep-water environments and high computational cost. In this work, we shift the focus toward deep-sea physical and sensor realism. We present a physics- and sensor-grounded extension of the Stonefish simulator that augments its hydrodynamic models with stochastic IMU and DVL drift, magnetometer disturbances, higher-order hydrodynamics, terramechanics, pressure-driven environmental variability, and physically based underwater optics. These additions are designed to better capture the forces and measurements shaping the behavior of deep-ocean AUVs, ROVs, landers, ASVs, and gliders, while remaining compatible with real-time simulation. This work advances underwater simulation toward more representative deep-sea operating conditions, which is particularly relevant for long-duration navigation and learning-based autonomy, where inaccurate sensor and environmental models introduce non-physical artifacts and overly optimistic performance. While challenges remain, including complex fluid-structure interactions and full environmental stochasticity, the proposed framework provides a practical foundation for navigation, perception, and autonomy research under deep-sea conditions.

Problem

• deep-sea
• physical fidelity
• sensor realism
• underwater simulation
• hydrodynamics

Innovation

• deep-sea simulation
• sensor-grounded
• physical fidelity
• hydrodynamics
• underwater optics