---
格式版本: 2
标题: "Seeing above the waves: A modular sensing framework for data acquisition at sea"
原文链接: "https://arxiv.org/abs/2608.10997"
发布日期: "2026-08-11"
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发现时间: "2026-08-12T11:26:18+08:00"
入库时间: "2026-08-12T03:28:55.992Z"
来源平台: "arXiv 学术论文搜索"
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---

## Computer Science > Robotics

## Title:Seeing above the waves: A modular sensing framework for data acquisition at sea

[View PDF](https://arxiv.org/pdf/2608.10997) [HTML (experimental)](https://arxiv.org/html/2608.10997v1)

> Abstract:Advancing autonomy for surface vessels requires systematic evaluation of their sensing and perception subsystems. Yet, maritime environments impose unique challenges: sensor installation is constrained by vessel layout, environmental conditions such as fog or sea clutter are difficult to reproduce, and long-duration missions complicate data collection. This work addresses the question: How can we design a modular and reproducible sensor platform for maritime autonomy?  
> We present a comprehensive design blueprint that incorporates diverse modalities - RADAR, LiDAR, IMU, GNSS, AIS, RGB and LWIR cameras, and weather sensors - to enhance environmental awareness and vessel proprioception. Supported by a dedicated ROS2-based software framework for data management, our modular platform enables long-term data collection, hardware-in-the-loop testing, and integration with existing sensors and algorithms. By unifying hardware design and data capture methodology, the platform enhances reproducibility and comparability across vessels and research projects. The proposed framework bridges engineering implementation and research methodology, providing the foundation for standardized, verifiable datasets essential to advancing situational awareness and autonomous maritime navigation.

| Comments: |  |
| --- | --- |
| Subjects: | Robotics (cs.RO) |
| Cite as: | [arXiv:2608.10997](https://arxiv.org/abs/2608.10997) \[cs.RO\] |
|  | (or [arXiv:2608.10997v1](https://arxiv.org/abs/2608.10997v1) \[cs.RO\] for this version) |
|  | [https://doi.org/10.48550/arXiv.2608.10997](https://doi.org/10.48550/arXiv.2608.10997) |

## Submission history

From: Julius Wirbel \[[view email](https://arxiv.org/show-email/7754787b/2608.10997)\]  
**\[v1\]** Tue, 11 Aug 2026 14:48:34 UTC (5,825 KB)

[Which authors of this paper are endorsers?](https://arxiv.org/auth/show-endorsers/2608.10997) | Disable MathJax ([What is MathJax?](https://info.arxiv.org/help/mathjax.html))
