Towards High-Resolution Seafloor 3D Mapping from Underwater Flash LiDAR and ICP Registration
Year: 2025
Type: conference-paper
Abstract: Seafloor mapping is crucial for ocean exploration. Current techniques mostly involve either long-range acoustic sensors or short-range passive optical systems. This paper presents an innovative underwater flash lidar system that bridges the gap by enabling high-resolution 3D mapping at intermediate ranges. To ensure accurate registration of lidar measurements, we propose an automatic pipeline based on the Iterative Closest Point (ICP) algorithm. Preliminary field experiments demonstrate the system's potential for applications in geosciences, marine biology, archaeology and infrastructure monitoring, highlighting under-water lidar as a promising tool for detailed and efficient seafloor mapping.
Authors: Maxime Ferrera, Christophe Pache, Jannis Holzer, Eleonoor Bosch, Aurélien Amaubec, Bernard Puigserver, Rahima Djahel, Javier Escartin, Jan Opderbecke
Language: English
Subfield: Environmental Engineering
Field: Environmental Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4413204519