Expedition log by MBARI Senior Scientist Aaron Micallef

Today, we’re highlighting one of the most exciting pieces of technology aboard this expedition—a scalable mapping and navigation system mounted on MBARI’s MiniROV. Developed by the CoMPAS Lab, this platform is designed to test how far low-cost, adaptable sensors can take us in exploring the seafloor.

We deployed the MiniROV at the top of a pingo (conical mounds associated with ground ice formation), northwest of the Mackenzie River delta, about 100 meters (330 feet) deep. The system mapped the terrain with impressive precision. With a 550-kilohertz downward-looking multibeam echosounder, three stereo cameras (two monochrome and one 4K color), and a laser scanner, the MiniROV mapped a 50 by 25 meter area of seafloor at centimeter scale. Forward-looking sonars and cameras are also onboard, ready for future use.

What makes this system particularly innovative is its approach to navigation. Instead of relying on bulky or costly underwater positioning tools, the vehicle uses the same kinds of sensors found in everyday smartphones—an accelerometer, magnetometer, and compass—combined with custom software. This integration enables the ROV to track its position and orientation while running simultaneous localization and mapping (SLAM). SLAM stitches together visual information from the cameras in real time to create high-resolution maps.

During the dive, the MiniROV held a steady speed of 0.2 meters (.65 feet) per second while flying just two meters (6.5 feet) above the seafloor, giving us a remarkable view of the area.

Beyond mapping, the dive also served as a testbed for a suite of control and autonomy features. Trials on five different technologies were conducted, ranging from mission management tools to algorithms that let the vehicle maintain a constant altitude while following terrain.

Together, these advances show how self-driving capabilities and SLAM can transform compact, low-cost platforms into powerful scientific tools. Eventually, the CoMPAS Lab hopes that this system will allow researchers and developers worldwide to adapt the technology for their own applications, further advancing ocean exploration.