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Odometry-Aided Real-Time Mapping for Underwater Robots Using Forward-Looking Sonar

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

Reliable perception is essential for underwater vehicles operating in complex environments, where light attenuation and scattering often degrade visibility and compromise optical sensing. Forward-looking sonar (FLS) offers an alternative by providing high-frame-rate acoustic imaging under poor optical conditions. However, real-time FLS mapping remains challenging due to unresolved target elevation, spatially non-uniform noise, and fragmented target boundaries, which hinder feature extraction and introduce geometric ambiguity during projection. To address these challenges, we propose a cascaded

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