Precise Volumetric Measurements of Any Shaped Objects with a Novel Acoustic Volumeter We introduce a novel technique to measure volumes of any shaped objects based on acoustic components. The focus is on small objects with rough surfaces, such as plant seeds. The method allows measurement of object volumes more than 1000 times smaller than the volume of the sensor chamber with both high precision and high accuracy. The method is fast, noninvasive, and easy to produce and use. The measurement principle is supported by theory, describing the behavior of the measured data for objects of known volumes in a range of 1 to 800 xc2xb5L. In addition to singlefrequency, we present frequencydependent measurements that provide supplementary information about pores on the surface of a measured object, such as the total volume of pores and, in the case of cylindrical pores, their average radiustolength ratio. We demonstrate the usefulness of the method for seed phenotyping by measuring the volume of irregularly shaped seeds and showing the ability to xe2x80x9clookxe2x80x9d under the husk and inside pores, which allows us to assess the true density of seeds.

Wide Aperture Imaging Sonar Reconstruction using Generative Models In this paper we propose a new framework for reconstructing underwater surfaces from wide aperture imaging sonar sequences. We demonstrate that when the leading object edge in each sonar image can be accurately triangulated in 3D, the remaining surface may be xe2x80x9cfilled inxe2x80x9d using a generative sensor model. This process generates a full threedimensional point cloud for each image in the sequence. We propose integrating these surface measurements into a cohesive global map using a truncated signed distance field (TSDF) to fuse the point clouds generated by each image. This allows for reconstructing surfaces with significantly fewer sonar images and viewpoints than previous methods. The proposed method is evaluated by reconstructing a mockup piling structure and a real world underwater piling, in a test tank environment and in the field, respectively. Our surface reconstructions are quantitatively compared to groundtruth models and are shown to be more accurate than previous stateoftheart algorithms.