{"ID":2833217,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.05303","arxiv_id":"2512.05303","title":"Seabed-to-Sky Mapping of Maritime Environments with a Dual Orthogonal SONAR and LiDAR Sensor Suite","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.","short_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-IM...","url_abs":"https://arxiv.org/abs/2512.05303","url_pdf":"https://arxiv.org/pdf/2512.05303v1","authors":"[\"Christian Westerdahl\",\"Jonas Poulsen\",\"Daniel Holmelund\",\"Peter Nicholas Hansen\",\"Fletcher Thompson\",\"Roberto Galeazzi\"]","published":"2025-12-04T22:53:32Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}