Multi-Session Multimodal Underwater Mapping with Acoustic and Optical Imaging

arXiv:2609.17929 · cs.RO · Submitted 2026-09-15 · Read on arXiv

cs.RO

Submitted: 2026-09-15

Updated: 2026-09-15

Code: https://github.com/CIRS-Girona/optical-acoustic-slam

Terminology

• Alignment — 14× in this paper · explained in 1 episode
• Accuracy — 9× in this paper · explained in 1 episode
• Pixel Accuracy — 6× in this paper
• Calibration — 5× in this paper · explained in 7 episodes
• Autonomous Underwater Vehicle — 3× in this paper
• Consistency — 3× in this paper · explained in 3 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Computational Tractability — 2× in this paper · explained in 2 episodes
• Data Fusion — 2× in this paper · explained in 3 episodes
• Feature Extraction — 2× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Transformer — 2× in this paper · explained in 2 episodes
• Alignment Scores — 1× in this paper · explained in 1 episode
• Aperture — 1× in this paper · explained in 1 episode
• Computational overhead — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Doppler Velocity Log — 1× in this paper
• Generalizability — 1× in this paper · explained in 6 episodes
• Georgia Tech Smoothing and Mapping — 1× in this paper
• Interpretability — 1× in this paper · explained in 15 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Segmentation Masks — 1× in this paper · explained in 2 episodes
• Synthetic Aperture Sonar — 1× in this paper

Sources

• BenthiCat: An opti-acoustic dataset for advancing benthic classification and habitat mapping
• A Dense Subframe-based SLAM Framework with Side-scan Sonar

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