Investigating underwater environments using Multi-Beam Echo Sounder (MBES) point cloud registration technology is a critical yet underdeveloped area in oceanographic research. This paper presents a fast, deterministic Branch-and-Bound (BnB) method with four degrees of freedom, which combines Inertial Measurement Unit (IMU) data with MBES point cloud data for precise registration. Given the prevalence of outliers and noise in u...

Autonomous Underwater Vehicles (AUVs) are widely used for hydrological monitoring, underwater exploration, and geological surveys. However, AUVs face limitations in underwater navigation due to the high costs associated with Strapdown Inertial Navigation System (SINS) and Doppler Velocity Log (DVL), hindering the development of low-cost vehicles. Micro Electro Mechanical System Inertial Measurement Units (MEMS IMUs) are widely...

Multibeam echo sounders (MBESs) enable extensive underwater environment exploration. However, due to weak correlation between adjacent multibeam sonar data and difficulties in inter-frame feature matching, the resulting underwater mapping accuracy frequently falls short of the desired level. To address this issue, this study presents the development of a multibeam data processing system, which includes functionalities for sona...