Seabed-to-Sky Mapping of Maritime Environments with a Dual Orthogonal SONAR and LiDAR Sensor Suite

• URL: http://arxiv.org/abs/2512.05303v1
• Date: Thu, 04 Dec 2025 22:53:32 GMT
• Title: Seabed-to-Sky Mapping of Maritime Environments with a Dual Orthogonal SONAR and LiDAR Sensor Suite
• Abstract summary: Critical maritime infrastructure increasingly demands situational awareness both above and below the surface.<n>We present a unified, independent mapping system that fuses LiDAR-IMU with a dual, orthogonally mounted Forward Looking Sonars.<n>On the acoustic side, we extend wide-aperture fusion to handle arbitrary inter-sonar translations and extract a leading edge from each FLS to form line-scans.<n>We validate the system on real-world data from Belvederekanalen (Copenhagen) demonstrating real-time operation with approx. 2.65 Hz Hz updates and approx. 2.85 Hz odometry.
• Score: 0.3694429692322631
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: Critical maritime infrastructure increasingly demands situational awareness both above and below the surface, yet existing ''seabed-to-sky'' mapping pipelines either rely on GNSS (vulnerable to shadowing/spoofing) or expensive bathymetric sonars. We present a unified, GNSS-independent mapping system that fuses LiDAR-IMU with a dual, orthogonally mounted Forward Looking Sonars (FLS) to generate consistent seabed-to-sky maps from an Autonomous Surface Vehicle. On the acoustic side, we extend orthogonal wide-aperture fusion to handle arbitrary inter-sonar translations (enabling heterogeneous, non-co-located models) and extract a leading edge from each FLS to form line-scans. On the mapping side, we modify LIO-SAM to ingest both stereo-derived 3D sonar points and leading-edge line-scans at and between keyframes via motion-interpolated poses, allowing sparse acoustic updates to contribute continuously to a single factor-graph map. We validate the system on real-world data from Belvederekanalen (Copenhagen), demonstrating real-time operation with approx. 2.65 Hz map updates and approx. 2.85 Hz odometry while producing a unified 3D model that spans air-water domains.

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