Search Results (253)

This paper presents HydroAir, a novel air-propelled Unmanned Surface Vehicle (USV) specifically designed for operation in shallow waters and obstacle-rich aquatic environments such as lakes, reservoirs, and large dams. Unlike conventional aquatic robots, HydroAir employs an aerial propulsion system that enables it to overcome partially submerged obstacles, vegetation, and extremely shallow regions where traditional propeller-based platforms fail. The vehicle features a system with a very reliable internal architecture, providing high maneuverability and robustness in both manual and autonomous navigation modes. The primary objective of HydroAir is to serve as a mobile sensing platform for three-dimensional reconstruction of aquatic environments, particularly the underwater terrain. The onboard sensing suite enables bathymetric data acquisition, while a dedicated monitoring and control software integrates these data with aerial reconstructions obtained from Unmanned Aerial Vehicles (UAVs), allowing for the fusion of above-water and underwater spatial information into a unified 3D model. Experimental validations were conducted in large-scale, real-world environments, including tests in a hydroelectric dam operated by Santo Antônio Energia on the Madeira River in Brazil, demonstrating the platform’s operational feasibility, stability, and reconstruction capabilities. The results indicate that HydroAir is a promising solution for environmental monitoring, inspection, and mapping in challenging aquatic environments where conventional autonomous surface vehicles are limited. Full article

Accurate recognition and segmentation of seafloor topographic units is of great significance for marine surveying and engineering applications. Efficient segmentation of multibeam bathymetric point clouds typically requires projecting them into two-dimensional images. However, segmentation methods based on single-modality images suffer from incomplete information representation and insufficient model adaptability, which often lead to blurred boundaries, false positives, and missed detections, thereby limiting segmentation accuracy. To address these challenges, this study proposes a seafloor topography recognition and segmentation method based on YOLO11n-seg with bimodal image feature fusion, from the perspectives of image generation and model optimization, aiming to improve segmentation accuracy and robustness. First, an early fusion strategy for bimodal images is adopted. Two types of images generated from point clouds via continuous curvature tension spline interpolation are concatenated at the input level, fusing local texture details with absolute water depth information, thereby enhancing the model’s ability to perceive topographic features. Second, a lightweight Efficient Channel Attention (ECA) module is embedded after the Spatial Pyramid Pooling-Fast (SPPF) module of the backbone network. This module adaptively calibrates channel weights, reinforcing the contribution of the grayscale channel to the final segmentation decision. Finally, a weighted BCE-Dice joint loss function is constructed to mitigate class imbalance between flat seabed and topographic regions, while also optimizing boundary segmentation accuracy. Experimental results on a self-constructed multibeam image dataset demonstrate that the proposed method achieves an mAP@50 of 92.8%, representing an absolute improvement of 7.6 percentage points over the baseline model. Notably, the model has only 2.84 M parameters, maintaining a lightweight profile. Full article

During seafloor terrain mapping missions conducted by AUVs, positioning error accumulation occurs inevitably over long distances due to the unavailability of global satellite navigation signals underwater. Moreover, the alternating distribution of flat and undulating regions on the seafloor renders single-constraint-based bathymetric SLAM methods prone to performance degradation in complex environments. To address these challenges, this paper proposes a multi-constraint hybrid strategy SLAM framework for AUV-based seafloor terrain mapping, grounded in an analysis of error accumulation mechanisms and constraint failure characteristics. The framework establishes a hierarchical and progressive constraint architecture to enable collaborative optimization across different spatial scales and topographic conditions. At the foundational pose estimation stage, multi-source trajectory information is fused to ensure continuity and stability in pose computation. In the local consistency constraint stage, an improved point cloud registration method combined with a neighborhood survey-line constraint mechanism is introduced to enhance geometric consistency among survey lines in feature-sparse regions. At the global optimization stage, a loop closure detection strategy is designed based on topographic statistical features, incorporating adaptive thresholds and correlation metrics to achieve robust introduction of global constraints. By flexibly integrating direct registration and feature-matching strategies according to topographic characteristics, the framework fully leverages the advantages of multi-constraint cooperative optimization. The proposed method is validated by the field data. Experimental results on real lake-trial data show that, relative to the baseline configurations evaluated under identical noise-injection conditions, the MCHS-SLAM framework yields more concentrated consistency-error distributions with markedly shorter large-error tails, and exhibits improved error suppression relative to the reference trajectory. This work presents a methodological framework for high-quality seafloor terrain mapping under heterogeneous terrain conditions, providing a basis for future extensions toward onboard real-time deployment. Full article

Ras El-Bar, a premier historic coastal resort on Egypt’s Nile Delta, has experienced a marked increase in drowning incidents in recent years, despite the presence of extensive coastal protection structures. While these measures, particularly detached breakwaters (DBWs), groins, and port jetties, were originally implemented to mitigate shoreline erosion, their influence on nearshore hydrodynamics and swimmer safety remains insufficiently understood. In this context, the present study integrates high-resolution bathymetric data, remote sensing observations, and coupled numerical modeling (CMS-Wave and CMS-Flow) to examine how these interventions have altered wave–current interactions. The results indicate that the modified coastal setting produces distinct flow regimes, ranging from weak offshore currents (<0.1 m/s) to moderate rip currents (≈0.25 m/s) within DBW shadow zones, and locally intensified flows exceeding 0.7 m/s in shallow nearshore areas. These conditions facilitate the development of vortices and persistent rip currents, particularly within inter-DBW embayments. A simulation-based swimming risk map was developed by integrating water depth and simulated current characteristics, classifying the coastline into safe, moderate-risk, and high-risk zones. High-risk zones, concentrated within inter-DBW embayments at depths exceeding 2 m, show broad spatial agreement with available drowning and rescue incident records, subject to the limitations of the informal dataset, while the shallow accretional shadow zones landward of the DBWs exhibit comparatively lower hydrodynamic energy and safer conditions. Overall, the study demonstrates that coastal protection structures, although effective in controlling erosion, may unintentionally increase human risk when safety considerations are not incorporated into their design and management. Accordingly, a set of integrated, sustainability-oriented measures is proposed, including enhanced real-time monitoring, regulated beach access, adaptive sand nourishment, and targeted public awareness, with the aim of achieving a more balanced and resilient approach to coastal zone management. Full article

Traditional satellite-derived bathymetry (SDB) often suffers from systematic optical path distortions due to the neglect of seafloor slope effects, leading to significant accuracy degradation in high-gradient coastal areas. This study proposes a Slope-Aware Physics-Informed Neural Network (SA-PINN) framework that synergistically utilizes ICESat-2 bathymetric photons and Sentinel-2 multispectral imagery. The core innovation involves a slope-aware operator, integrated into the radiative transfer-based physics loss function, which explicitly rectifies directional optical path deviations induced by seafloor inclination. By fusing physical mechanisms with data-driven features, the model utilizes a seven-dimensional feature space comprising four spectral bands, two directional slope components, and prior depth. Applications at Culebra, Maui, and Molokai demonstrate that SA-PINN significantly outperforms the Stumpf model, Random Forest, and standard CNNs, achieving root mean square errors (RMSE) of 1.36 m, 2.91 m, and 1.34 m, respectively. Ablation studies confirm that SA-PINN reduces RMSE by up to 37% compared to CNN in complex regions with slopes exceeding 10°, ensuring superior physical consistency and spatial continuity. This research provides a robust, in situ-free automated solution for high-resolution bathymetric mapping in remote and steep coastal environments globally. Full article

The Somyne lake-mire system is a unique wetland landscape complex in the Polissia region of Ukraine and forms part of the Rivne Nature Reserve. Its ecological importance is internationally recognised through its designation as the Ramsar wetland “Somyne Peatland Massif”. Effective conservation of this wetland requires an understanding of the factors controlling the functioning of the lake and its drainage basin, considered in this study as a lake-basin system (LBS). The aim of this study is to assess the geoecological condition of the Somyne LBS using the principles of landscape limnology and the basin approach. The research integrates morphological, morphometric, hydrological, landscape-metric, hydrochemical and geochemical analyses. These are complemented by bathymetric modelling, landscape mapping, and analysis of long-term meteorological observations. The results identify key natural and anthropogenic drivers shaping the functioning of the system, characterise the hydrochemical state of lake waters and the geochemical properties of bottom sediments, and describe the spatial distribution of bottom sediments and the bathymetric structure of the lake basin. A multivariate algorithm for the geoecological assessment of lake-basin systems is proposed, providing a framework for comparative analysis of small lakes in the Polissian lake region under climate change and increasing anthropogenic pressure. Full article

The Gulf of Taranto (Ionian Sea) is a key transitional sector between the Southern Apennines collisional belt and the Calabrian Arc system, where the expression of Pleistocene–Holocene deformation in the shallow stratigraphic record remains debated. This study focuses on the Taranto Canyon area, the main morphologic feature of the northeastern Gulf of Taranto slope. We integrate high-resolution multibeam bathymetry (10 m grid) with Sparker seismic profiles to (i) define the shallow seismo-stratigraphic framework and (ii) document spatial relationships between shallow discontinuities, morphostructural lineaments, and submarine channel network organization. A simplified tie to the Livia 001 well constrains the subdivision of the shallow succession into four seismic units: the late Pleistocene–Holocene unit (PtH), the Santerno Formation (SNT), the Calcarenite di Gravina (GRA), and the Cupello Limestones (CPL). The PtH interval shows the strongest lateral variability and includes widespread acoustically disturbed bodies and recurrent sub-vertical fluid escape acoustic anomalies. Steep discontinuities producing reflector terminations, minor vertical separation, and localized bending affect PtH and, locally, SNT, with normal fault geometries prevailing where resolvable. Bathymetric mapping reveals multiple lineament families and preferred channel orientations that persist across higher Strahler orders, supporting a structurally conditioned template that guides seafloor morphology, sediment routing, and canyon–slope evolution in the northeastern Gulf of Taranto. Full article

High-precision sediment distribution maps are indispensable for nearshore sediment dynamics and ecology and nearshore resource management. Using grain-size data of surface sediments from the nearshore waters of Lianyungang and auxiliary datasets including bathymetric and hydrodynamic conditions, this study assessed Random Forest (RF), eXtreme Gradient Boosting (XGBoost), and Support Vector Regression (SVR) for predicting sediment grain-size fractions and mapping sediment substrate types. All three models capture the spatial gradient of sediment grain size from fine to coarse from the nearshore to the offshore regions, but differ in preserving local heterogeneity and defining transition boundaries: XGBoost delivers the most balanced performance by preserving grain-size variability, reducing boundary mixing, and improving the identification of classes with limited samples; RF excels in robust delineation of gradual transitions, whereas SVR tends to produce fragmented boundaries and unstable performance for classes with limited samples. Feature importance reveals that hydrodynamic drivers dominate the spatial distribution of sand, whereas terrain indices are more influential for the clay distribution pattern, confirming the role of microtopography in modulating fine-sediment trapping. Overall, this study improves mapping accuracy and supports marine spatial planning and coastal infrastructure design. Full article

Satellite-derived bathymetry holds significant value for acquiring nearshore bathymetric data. However, in coastal waters, bathymetry is affected by in-water particle scattering and seafloor substrate variability, leading to spatial inconsistency between the logarithmic green band profile derived from multispectral satellite imagery and the actual water depth profile. According to the position information of interpolated points and the inverse distance square relationship with the surrounding 16 points from low-reference bathymetric data (such as the bathymetric map from GEBCO, NOAA Electronic Navigational Charts), this model adopts a third-order inverse distance square bicubic convolution interpolation method to resample a high-resolution bathymetric map with the size of the satellite image. Normalized underwater topography trend data (derived from the low-resolution reference bathymetric map) were combined with normalized green band data to compute an averaged dataset. In this way, a linear bathymetric model was constructed. We invert this model’s parameters and calculate the water depth by using the average data and reference points from reference bathymetric data. Validation tests were conducted across three test areas using independent validation bathymetric data: Weizhou Island, China (Case II waters); Saipan, Northern Mariana Islands, USA (Case I waters); and Molokai Island, Hawaii, USA (Case I waters). Each test area was studied using five error analysis methods (i.e., scatterplot, error histogram, regional bathymetric error, three check lines, and seven check points). Compared to four classic bathymetric models (i.e., single-band model, log-ratio model, ratio-log model, and multi-band model), the proposed model achieved lower root mean square errors (RMSE) of 2.08 m, 1.40 m, and 2.01 m in the three test areas, representing reductions of 35%, 43%, 45%, and 20% and overall averages of 48%, 62%, 64%, and 43%, respectively. Its goodness of fit (R²) reached 0.87, 0.97, and 0.97, showing improvements of at least 5%, 5%, 9%, and 9% and overall averages of 17%, 77%, 84%, and 12%, respectively. The results demonstrate that the proposed model significantly improves bathymetry accuracy while maintaining algorithmic simplicity, providing a new model for acquiring nearshore foundational bathymetric maps. Full article

Wave-driven free-surface flows pose numerical challenges due to tensorial radiation stress forcing, anisotropic diffusion, and strong sensitivity to closure parameters. This paper investigates the numerical behavior of a quasi-3D wave-driven flow model using a coupled depth-integrated (2D) solver with a diagnostic three-dimensional (3D) reconstruction employed for consistency verification to evaluate the validity of dimensional reduction. The scheme is implemented on a staggered Arakawa C-grid with a terrain-following vertical coordinate and explicit pseudo-time-stepping, which enables the direct assessment of stability limits. A reference experiment and systematic sensitivity tests are performed for three idealized bathymetries of increasing complexity. Bottom friction primarily controls the free-surface response, with critical thresholds (e.g., $f\gtrsim 0.03$) identified via the free-surface displacement Z as markers for the onset of numerical stiffness. Horizontal eddy viscosity $N_h$ has a weak influence on depth-integrated transport over most of the tested range, whereas vertical eddy viscosity $N_v$ governs both transport magnitude and stability through the vertical diffusion constraint, acting as the primary bottleneck for computational efficiency. A stability map in the $(N_v,\Delta t,N_z)$ space is provided to delineate stable, marginal, and unstable regimes identifying an optimal vertical resolution of $N_z\approx 10$ for coastal applications. Grid resolution experiments quantify convergence trends and show that sensitivity increases with bathymetric complexity, revealing that bathymetric aliasing in multi-bar systems can lead to errors of up to 20% if gradients are under-resolved. Finally, a consistent set of diagnostic metrics is proposed for comparing 2D solutions with their vertically resolved counterparts, establishing a validity envelope where 2D models remain reliable versus regimes where explicit vertical shear resolution is mandatory. The results provide a practical roadmap for parameter selection, ensuring numerical robustness in complex, mechanically forced free-surface CFD applications. Full article

High resolution underwater mapping is fundamental to the sustainable development of the blue economy, supporting offshore energy expansion, marine habitat protection, and the monitoring of both living and non-living resources. This work presents a pose-graph SLAM and calibration framework specifically designed for 3D profiling sonars, such as the Coda Octopus Echoscope 3D. The system integrates a probabilistic scan matching method (3DupIC) for direct registration of 3D sonar scans, enabling accurate trajectory and map estimation even under degraded dead reckoning conditions. Unlike other bathymetric SLAM methods that rely on submaps and assume short-term localization accuracy, the proposed approach performs direct scan-to-scan registration, removing this dependency. The factor graph is extended to represent the sonar extrinsic parameters, allowing the sonar-to-body transformation to be refined jointly with trajectory optimization. Experimental validation on a challenging real world dataset demonstrates outstanding localization and mapping performance. The use of refined extrinsic parameters further improves both accuracy and map consistency, confirming the effectiveness of the proposed joint SLAM and calibration approach for robust and consistent underwater mapping. Full article

With the rapid development and widespread application of multibeam echo-sounding systems, large-scale and high-resolution seafloor topography can be efficiently acquired, enabling precise mapping of seabed terrain. However, due to complex oceanographic conditions, instrumental noise, and acoustic interferences, the acquired multibeam data often contain outliers that deviate from the true seafloor surface. These outliers can distort the representation of seafloor topography, adversely affecting subsequent geological analysis and engineering applications. To address this issue, a hybrid outlier detection method combining CUBE filtering with the Isolation Forest (IForest) algorithm, termed CUBE-IForest, is proposed. The method first employs CUBE filtering to remove gross outliers based on local uncertainty estimation, followed by the application of IForest to identify subtle anomalies in the refined data, achieving hierarchical detection of outliers. Experimental results based on in situ multibeam bathymetric data from the northeastern Pacific demonstrate that compared with traditional filtering methods the CUBE-IForest approach significantly improves detection accuracy and reduces both false positive and false negative rates by approximately 30%, confirming its efficiency and reliability in seafloor mapping and analysis. Full article

Accurate nearshore bathymetry is essential for various marine applications, including navigation, resource management, and the protection of coastal ecosystems and the services they provide. This study presents an approach to enhance the accuracy of bathymetric estimates derived from high-spatial- and high-temporal-resolution optical satellite imagery. The proposed technique is particularly suited for multispectral sensors that acquire spectral bands sequentially rather than simultaneously. PlanetScope SuperDove imagery was employed and validated against bathymetric data collected using a multibeam echosounder. The study area is the Gulf of Sciacca, located along the southwestern coast of Sicily in the Mediterranean Sea. Here, multibeam data were acquired along transects that are subparallel to the shoreline, covering depths ranging from approximately 7 m to 50 m. Satellite imagery was radiometrically and atmospherically corrected and then processed using a simplified radiative transfer transformation to generate a continuous bathymetric map extending over the entire gulf. The resulting satellite-derived bathymetry achieved reliable accuracy between approximately 5 m and 25 m depth. Beyond these limits, excessive signal attenuation for higher depths and increased water turbidity close to shore introduced significant uncertainties. The innovative aspect of this approach lies in the combined use of spectral averaging among the most water-penetrating bands, temporal averaging across multiple acquisitions, and a liquid-facets noise reduction technique. The integration of these multi-layer inputs led to improved accuracy compared to using single-date or single-band imagery alone. Results show a strong correlation between the satellite-derived bathymetry and multibeam measurements over sandy substrates, with an estimated error of ±6% at a 95% confidence interval. Some discrepancies, however, were observed in the presence of mixed pixels (e.g., submerged vegetation or rocky substrates) or surface artifacts. Full article

Coastal bathymetric mapping is essential for marine conservation, navigation, and environmental management. Satellite-derived bathymetry (SDB) is a cost-effective solution to mapping bathymetry over large shallow areas. However, traditional multispectral instruments can produce poor depth estimates for several reasons, including image noise, atmospheric interference, waves and white caps, and where the seafloor-reflected signal is weak, e.g., in areas with deep water or a low-albedo seafloor. This study investigates the potential of PRISMA hyperspectral imagery to improve SDB performance. Through an iterative process, hyperspectral bands were added to a base Random Forest model, and model performance was assessed across different water pixel classes, including bright shallow substrates, seagrass, and deep water. The model’s performance was then compared to that of multispectral Landsat 8 imagery. The results demonstrated that adding hyperspectral bands to the base model improved bathymetric accuracy, particularly in deeper waters (25 m–30 m), where Mean Absolute Error decreased by 2.51 m from a 3-band to a 24-band model. However, the best-performing model was achieved using Landsat 8, resulting in a lower Mean Absolute Error (1.88 m) than the optimized 24-band PRISMA model (2.01 m). Our findings suggest that although additional hyperspectral bands can improve bathymetry estimation, multispectral imagery may still be more effective for general coastal bathymetry mapping despite its lower spectral resolution. Full article

This study evaluates the use of UAV-based photogrammetry to document shallow submerged cultural heritage, focusing on the Tirpitz wreck salvage site near Håkøya, Norway. Using a DJI Phantom 4 Multispectral drone, we acquired RGB and multispectral imagery over structures located at depths of up to 5–10 m. Structure-from-motion (SfM) processing enabled the three-dimensional reconstruction of submerged features, including a 52 × 10 m wharf and adjacent debris piles, with an accuracy of the order of 10 cm. Our data represents the first and only accurate mapping of the site yet carried out, with an absolute position uncertainty estimated to be no greater than 3 m. Volumes of imaged debris could be estimated, using a background subtraction method to allow for variable bathymetry, at around 350 m³. Bathymetric data for the sea floor could be derived effectively from an SfM point cloud, though less effectively applying the Stumpf model to the multispectral data as a result of significant spectral variation in the sea floor reflectance. Our results show that UAV-based through-surface SfM is a viable, low-cost method for reconstructing submerged heritage with high spatial accuracy. These findings support the integration of UAV-based remote sensing into heritage and environmental monitoring frameworks for shallow aquatic environments. Full article