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Beyond the Flat Seafloor: A Closed-Form Two-View Constraint to Aid Sidescan Sonar Reconstruction

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Sidescan sonar is a common sensor for both manned and autonomous marine exploration and mapping, yet very few methods build upon or exploit the geometric projection model of the sensor. As sidescan sonar is limited to a 1D range measurement, many approximations are frequently used, including the long-standing assumption of a flat seafloor. Rather than make similar approximations, this paper focuses on a multi-view geometry based approach and formalizes a two-view geometric constraint and proves that a shared feature is constrained to a locus within the intersection of a sphere and a plane. In

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