Sonar-GPS Fusion for Seabed Mapping in Turbid Shallow Waters with an Autonomous Surface Vehicle
Accurate seabed mapping is essential for habitat monitoring and infrastructure inspection. In turbid, shallow coastal waters, such as shellfish aquaculture farms, the effectiveness of traditional optical methods is limited. Autonomous surface vehicles (ASVs) equipped with forward-looking sonar (FLS) offer a promising alternative. However, existing sonar-based systems face challenges in achieving fine resolution mapping over long trajectories due to low-resolution positioning measurements and accumulated drift over long trajectories. In this paper, we present a drift-resilient seabed mapping framework that integrates local FLS frame alignment using the Fourier-Mellin transform (FMT) with g...
| Authors | Yisheng Zhang, Michael Xu, Alan Williams et al. |
|---|---|
| Primary category | cs.RO |
| Published | 3 May 2026 |
| Last updated at source | 3 May 2026 |
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