Mapping at the Boundary: Simultaneous Above- and Underwater Surveying of Rocky Coastal Environments with an Uncrewed Surface Vehicle

Sergey Khokhlov, Fabio Menna, Erica Nocerino

Abstract. Mapping at the air–water interface in shallow coastal environments remains challenging due to the need to integrate heterogeneous datasets acquired under different geometric and operational conditions. This study presents a modular uncrewed surface vehicle (USV)-based system for simultaneous above- and underwater photogrammetric surveying supported by differential GNSS positioning. The system integrates a rigid multi-camera configuration, GNSS time synchronization, and a direct georeferencing workflow based on trajectory interpolation and lever-arm calibration. Experimental results from a rocky coastal site in Sardinia (Italy) show that underwater photogrammetry can achieve centimetric absolute accuracy (2–4 cm horizontally and ~8 cm vertically) without underwater ground control points. The USV enables controlled and repeatable acquisition in very shallow environments, while UAV photogrammetry complements the reconstruction of the emerged area. Limitations related to image quality and refraction effects are discussed. The system represents a flexible and scalable solution for integrated coastal mapping and monitoring.