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HydroMap: Probabilistic Water Surface Elevation Mapping for Semantic Scene Representation in Inland Waterways

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

Autonomous surface vehicles operating in inland waterways require a persistent representation of both surrounding structures and the water surface. LiDAR-based simultaneous localization and mapping often produces sparse or missing water returns, leaving this operational surface absent from the reconstructed scene. We propose HydroMap, an odometry-decoupled framework that reconstructs water surface elevation from stereo observations and integrates it with the structural map. Per-frame water points form joint cell observations with propagated stereo and pose uncertainty, and successive observati

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