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Multi-Session Multimodal Underwater Mapping with Acoustic and Optical Imaging

arXiv · AI, language, vision and robotics · article · Sep 15, 2026 · UTC

Accurate seafloor mapping is essential for marine science, archaeology, and environmental monitoring. However, integrating data from different sensors, such as side-scan sonar and optical cameras, collected across separate survey sessions, remains challenging due to positioning drift and sensor offsets. This paper presents a multi-session, multimodal underwater mapping framework based on factor graph optimization. The method jointly optimizes vehicle trajectories, 3D landmark positions, sensor extrinsics, and per-session global alignment transformations. By combining rigid inter-session correc

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