G.Yu. Illarionov1, A.Yu. Filozhenko2

1, 2 Institute of Marine Technology Problems named after Academician M.D. Ageev Far Eastern Branch of the Russian Academy of Sciences (Vladivostok, Russia)
1 illar1951gy@mail.ru, 2 filozhenko_a@mail.ru

Underwater laser sensing (LiDAR) faces a number of physical and technological limitations: strong attenuation and scattering of light in the aquatic environment, the effects of turbidity, suspended particles, and aquatic organisms, as well as the difficulty of obtaining accurate three-dimensional data at depth. Existing hydroacoustic methods do not always provide the required resolution, and traditional lidars are not sufficiently adapted to operate in complex underwater conditions. This hinders the development of high-resolution bottom mapping, underwater structure surveys, and operational environmental monitoring.

Objective – to analyze modern underwater lidars of various types (bathymetric, quantum, single-photon Raman) and their carriers—marine robotic systems, including autonomous and remotely operated underwater vehicles, as well as unmanned and dual-environment quadcopters.

Key developments in underwater lidar are discussed: quantum lidar with single-photon detectors (UK), the ULi system (Germany) with a resolution of less than 10 mm, the SL1, SL4, and WiSSL series of lidars (USA) providing high-speed scanning and panoramic coverage, and a single-photon Raman lidar (China) for remote detection of oil products. Examples of lidar integration with launch vehicles are shown: the HUGIN AUV, remotely operated vehicles, and dual-environment quadcopters, enabling detailed 3D imaging of objects at depths of up to 4,000 m with millimeter resolution.

The introduction of underwater lidars significantly expands the capabilities of marine robotics in the areas of high-precision seabed mapping, pipeline and hydraulic structure inspection, sunken object searches, and environmental monitoring. According to the forecast, the global underwater lidar market will grow more than 3.7-fold by 2034, confirming the high demand for these technologies in the defense, oil and gas, and research sectors.

Illarionov G.Yu., Filozhenko A.Yu. Underwater lidars and their carriers – marine robotic complexes // Science Intensive Technologies. 2026. V. 27. № 4. P. 48−62. DOI: https://doi.org/ 10.18127/j19998465-202604-05

1. Tekhnologiya lidarov: kak rabotaet, gde ispol'zuyut, kak budet razvivat'sya. URL: https://practicum.yandex.ru/blog/lidar-primenenie-tehnologii/. (data obrashcheniya 19.03.2026) (In Russian).
2. How Does LiDAR Work Underwater? URL: https://blog.fenstermaker.com/?s=lidar+under+water. (data obrashcheniya 19.03.2026).
3. Dubrovinskaya E., DalgleishF., OuyangB., Casari P. Underwater LiDAR Signal Processing for Enhanced Detection and Localization of Marine Life. In 2018 OCEANS. MTS/IEEE Kobe Techno-Oceans (OTO). IEEE, May 2018. P. 1–8. DOI: 10.1109/oceanskobe. 2018.8559113.
4. Filisetti A. et al. Developments and applications of underwater LiDAR systems in support of marine science. OCEANS 2018 MTS/IEEE Charleston: IEEE, 2018. P. 1–10.
5. Maccarone A., Drummond K., McCarthy A., Steinlehner U.K., Tachella Ju., Garcia D.A., Pawlikowska A., Lamb R.A., Henderson R.K., McLaughlin St., Altmann Yo., Buller G.S. Submerged single-photon LiDAR imaging sensor used for real-time 3D scene reconstruction in scattering underwater environments. Opt. Express 2023. V. 31. P. 16690–16708.
6. Sheremet'ev A. Razrabotan kvantovyj lidar dlya provedeniya issledovanij pod vodoj. URL: https://hightech.fm/2023/05/05/acquires-lidar. (data obrashcheniya 19.03.2026) (In Russian).
7. Castillón M. et al. State of the Art of Underwater Active Optical 3D Scanners. Sensors. 2019. V. 19. № 23. P. 5161.
8. Kock H., Reiterer A. Geomapping maritime surfaces: Finnish research institute uses measurement systems developed by Fraunhofer IPM. URL: https://www.ipm.fraunhofer.de/en/press-publications/press-releases/geomapping-maritime-surfaces-laser-bathymetry-systems.html. (data obrashcheniya 19.03.2026). Tekst: elektronnyj.
9. Horsey Ju. SL4 underwater subsea LiDAR system. URL: https://www.geeky-gadgets.com/sl4-underwater-subsea-lidar-system-12-10-2021. (data obrashcheniya 19.03.2026).
10. Next-generation underwater lidar technology aims to map the ocean floor in remarkable detail Behind the Scenes. URL: https://www.mbari.org/news/next-generation-underwater-lidar-technology-aims-to-map-the-ocean-floor-in-remarkable-detail/ (data obrashcheniya 19.03.2026).
11. Mingjia Shangguan, Zhifeng Yang, Mingyu Shangguan, Zaifa Lin, Zhuoyang Liao, Yirui Guo, Chuan Liu. Remote sensing oil in water with an all-fiber underwater single-photon Raman lidar. Appl. Opt. 2023. V. 62. P. 5301–5305.
12. Laser Scanner Delivered for Norwegian MCM. URL: https://www.marinetechnologynews.com/news/laser-scanner-delivered-norwegian-555616 (data obrashcheniya 19.03.2026).
13. HUGIN Endurance AUV completes record-breaking autonomous mission over 1,200 nautical miles. URL: https://www.armyrecognition. com/news/navy-news/2024/hugin-endurance-auv-completes-record-breaking-autonomous-mission-over-1-200-nautical-miles (data obrashcheniya 19.03.2026).
14. Bakken E. M., Midtgaard O. Underwater Image Mosaics for AUV-Mounted Cameras. Global Oceans 2020: Singapore. U.S. Gulf Coast.: IEEE. 2020. P. 1–6.
15. Yang H, Xu Z, Jia B. An Underwater Positioning System for UUVs Based on LiDAR Camera and Inertial Measurement Unit. Sensors (Basel). 2022 Jul 20. V. 22(14). P. 5418. doi: 10.3390/s22145418. PMID: 35891106; PMCID: PMC9318058.
16. Issledovateli testiruyut podvodnye izmeritel'nye sistemy v indonezijskih vodah. URL: https://gisproxima.ru/issledovateli_testiruyut_ podvodnye_sistemy. (data obrashcheniya 15.10. 2025) (In Russian).
17. Narrow-beam laser technology enables communications between underwater vehicles. URL: https://phys.org/news/2018-08-narrow-beam-laser-technology-enables-underwater.html. (data obrashcheniya 19.03.2026). Tekst: elektronnyj.
18. Richter K. et al. Refined Geometric Modeling of Laser Pulse Propagation in Airborne LiDAR Bathymetry. PFG. Journal of Photogrammetry, Remote Sensing and Geoinformation Science. 2021. V. 89. № 2. P. 121–137.
19. Schlett J. Underwater Lidar Gives Maritime and Subsea Applications the Green Light. URL: www.photonics.com/Articles/Underwater-Lidar-Gives-Maritime-and-Subsea/a71062 (data obrashcheniya 19.03.2026).
20. Cheng L. et al. A Fishery Water Quality Monitoring and Prediction Evaluation System for Floating UAV Based on Time Series. Sensors. 2021. V. 21. № 13. P. 4451.
21. Meet the Naviator. A Drone that Can Fly Just as Easily as it Can Swim. URL: https://www.commercialuavnews.com/public-safety/meet-naviator-drone-can-fly-just-easily-can-swim. (data obrashcheniya 19.03.2026).
22. Illarionov G.Yu. Dvuhsrednye bespilotnye letatel'nye apparaty i ih nositeli. Podvodnye issledovaniya i robototekhnika 2026. № 1. S. 71–81 (In Russian).
23. Patent 2850357 RF, MPK: B63G 8/00 (2025.08). Avtonomnyj neobitaemyj podvodnyj apparat. nositel' vodonepronicaemogo kvadrokoptera. G.Yu. Illarionov, A.A. Karpachev, S.V. Zholobova. 2025. 14 s. (In Russian).
24. V Rossii sozdali podvodnyj avtonomnyj apparat. nositel' bespilotnika. URL: https://tass.ru/nauka/25641317. (data obrashcheniya 19.03.2026) (In Russian).
25. Underwater LiDAR Market Size and Forecast 2025 to 2034. URL: https://www.precedenceresearch.com/underwater-lidar-market. (data obrashcheniya 19.03.2026).