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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2512.05303 |
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| _version_ | 1866918233388351488 |
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| author | Westerdahl, Christian Poulsen, Jonas Holmelund, Daniel Hansen, Peter Nicholas Thompson, Fletcher Galeazzi, Roberto |
| author_facet | Westerdahl, Christian Poulsen, Jonas Holmelund, Daniel Hansen, Peter Nicholas Thompson, Fletcher Galeazzi, Roberto |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_05303 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Seabed-to-Sky Mapping of Maritime Environments with a Dual Orthogonal SONAR and LiDAR Sensor Suite Westerdahl, Christian Poulsen, Jonas Holmelund, Daniel Hansen, Peter Nicholas Thompson, Fletcher Galeazzi, Roberto Robotics 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. |
| title | Seabed-to-Sky Mapping of Maritime Environments with a Dual Orthogonal SONAR and LiDAR Sensor Suite |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.05303 |