“…The drawback of those methods is that the reconstruction is sparse, as feature points are often difficult to extract in sonar images and correspondences can be reliably found only at nearby viewpoints. Generative models utilize the measured intensities and a known starting position in order to derive the slopes of the corresponding surfaces in the scene [3], [6], [8], [19], [22], [24]. While allowing a locally dense 3D reconstruction, these methods rely on the estimate of object edges and knowledge of the reflective 1 German Research Center for Artificial Intelligence, Bremen, Germany 2 Kraken Robotics, Bremen, Germany sarnold@ieee.org, bilal.wehbe@dfki.de properties of the surfaces.…”