{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,7]],"date-time":"2026-07-07T21:04:21Z","timestamp":1783458261140,"version":"3.55.0"},"reference-count":26,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T00:00:00Z","timestamp":1762473600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T00:00:00Z","timestamp":1762473600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100009367","name":"Mansoura University","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100009367","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Sci Rep"],"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>Remotely Operated Underwater Vehicles (ROUVs) are increasingly important for high-resolution surveying of narrow shipping lanes. This paper presents 3Clifs, a LiDAR- and AI-enhanced ROUV designed for near-real-time topographic mapping and navigation support in shallow, constrained waterways, demonstrated at three cliff sites in the Suez Canal. The system integrates three-dimensional Light Detection and Ranging (LiDAR) scanning, an Inertial Measurement Unit (IMU), and an onboard processor running the Robot Operating System (ROS) for Simultaneous Localization and Mapping (SLAM). To address data loss from underwater LiDAR (caused by scattering and reflection), we introduce an AI-driven optimisation module that reconstructs missing point cloud data and improves SLAM continuity. We also report propulsion and propeller design changes (propeller v05_1) that reduce flow turbulence and improve scan stability. We compare our approach to sonar-only ROUV mapping and to recent ROUV\/LiDAR studies using metrics including point-cloud completeness, SLAM continuity, and navigation-path deviation. The main contributions are: (i) an integrated LiDAR, ROS and AI pipeline for underwater SLAM with missing-point recovery; (ii) a propulsion configuration optimized for LiDAR scanning stability; and (iii) a real-world Suez Canal case study demonstrating practical benefits for narrow-lane navigation.<\/jats:p>","DOI":"10.1038\/s41598-025-23281-8","type":"journal-article","created":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T08:45:55Z","timestamp":1762505155000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Smart ROUV advances for enhanced navigation in the Suez Canal"],"prefix":"10.1038","volume":"15","author":[{"given":"Khaled","family":"Oqda","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kareem Mosaad","family":"Ibrahim","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ahmed Ibrahim","family":"Mustafa","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Reem Gamal","family":"Allam","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Muhamed Ahmed","family":"Saad","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ahmed Ibrahim","family":"Asl","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohamed Al-Sayed Abdel","family":"Samie","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sara Abdel Fattah","family":"Ibrahim","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hassan Yahya","family":"Ghanem","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohamed Mahmoud","family":"Habib","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohamed Ali","family":"Metwalliy","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hanaa Salem","family":"Marie","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2025,11,7]]},"reference":[{"key":"23281_CR1","doi-asserted-by":"publisher","first-page":"220","DOI":"10.3389\/fmars.2020.00220","volume":"7","author":"DL McLean","year":"2020","unstructured":"McLean, D. L. et al. Enhancing the scientific value of industry remotely operated vehicles (ROVs) in our oceans. Front. Mar. Sci. 7, 220 (2020).","journal-title":"Front. Mar. Sci."},{"issue":"1\u20132","key":"23281_CR2","doi-asserted-by":"publisher","first-page":"61","DOI":"10.1016\/0025-3227(82)90029-9","volume":"49","author":"DJ Stanley","year":"1982","unstructured":"Stanley, D. J., Freeland, G. L. & Sheng, H. Dispersal of mediterranean and Suez Bay sediments in the Suez Canal. Mar. Geol. 49 (1\u20132), 61\u201379 (1982).","journal-title":"Mar. Geol."},{"key":"23281_CR3","doi-asserted-by":"crossref","unstructured":"Zulkarnain, O. W., Redhwan, A. A. M., Baba, N. B., Fadhil, M. N. & Rosni, S. Design and development of SelamDrone underwater ROV manoeuvring control. In Journal of Physics: Conference Series, 012081 (IOP Publishing, 2021).","DOI":"10.1088\/1742-6596\/1874\/1\/012081"},{"issue":"4","key":"23281_CR4","doi-asserted-by":"publisher","first-page":"556","DOI":"10.1017\/S0022050700107740","volume":"18","author":"ME Fletcher","year":"1958","unstructured":"Fletcher, M. E. The Suez Canal and world shipping, 1869\u20131914. J. Econ. Hist. 18 (4), 556\u2013573 (1958).","journal-title":"J. Econ. Hist."},{"key":"23281_CR5","doi-asserted-by":"crossref","unstructured":"Afifudin, I. N. et al. Optimization design of remotely operated vehicle (ROV) for Madura Strait Area. In IOP Conference Series: Earth and Environmental Science, 012029 (IOP Publishing, 2023).","DOI":"10.1088\/1755-1315\/1198\/1\/012029"},{"key":"23281_CR6","doi-asserted-by":"crossref","unstructured":"Satria, D. et al. Hydrodynamic analysis of remotely operated vehicle (ROV) observation class using CFD. In IOP Conference Series: Materials Science and Engineering, 012014 (IOP Publishing, 2019).","DOI":"10.1088\/1757-899X\/645\/1\/012014"},{"issue":"9\u201310","key":"23281_CR7","doi-asserted-by":"publisher","first-page":"1561","DOI":"10.1177\/0020294020952483","volume":"53","author":"Y He","year":"2020","unstructured":"He, Y., Wang, D. B. & Ali, Z. A. A review of different designs and control models of remotely operated underwater vehicle. Meas. Control. 53 (9\u201310), 1561\u20131570. https:\/\/doi.org\/10.1177\/0020294020952483 (2020).","journal-title":"Meas. Control"},{"key":"23281_CR8","doi-asserted-by":"crossref","unstructured":"Dong, M., Chen, D., Ye, N. & Chen, X. Design of ackerman mobile robot system based on ROS and Lidar. In Journal of Physics: Conference Series, 012073 (IOP Publishing, 2021).","DOI":"10.1088\/1742-6596\/1838\/1\/012073"},{"issue":"3","key":"23281_CR9","doi-asserted-by":"publisher","first-page":"031213","DOI":"10.1117\/1.OE.62.3.031213","volume":"62","author":"H Holzh\u00fcter","year":"2023","unstructured":"Holzh\u00fcter, H., B\u00f6dewadt, J., Bayesteh, S., Aschinger, A. & Blume, H. Technical concepts of automotive lidar sensors: a review. Opt. Eng. 62 (3), 031213\u2013031213 (2023).","journal-title":"Opt. Eng."},{"key":"23281_CR10","unstructured":"Christ, R. D. & Wernli, R. L. The ROV Manual: a User Guide for Remotely Operated Vehicles (Butterworth-Heinemann, 2013)."},{"key":"23281_CR11","doi-asserted-by":"crossref","unstructured":"Serejo, G. L., dos Santos, V. A., Silva, A. F. B. & Santos, C. G. R. Mobile platform based on ROS and LIDAR for mapping in civil construction. In International Conference on Computational Science and Its Applications, 192\u2013205 (Springer, 2023).","DOI":"10.1007\/978-3-031-37105-9_14"},{"issue":"2","key":"23281_CR12","doi-asserted-by":"publisher","first-page":"1293","DOI":"10.1007\/s11277-020-07378-z","volume":"116","author":"ZA Ali","year":"2021","unstructured":"Ali, Z. A., Li, X. & Noman, M. Stabilizing the dynamic behavior and position control of a remotely operated underwater vehicle. Wireless Pers. Commun. 116 (2), 1293\u20131309 (2021).","journal-title":"Wireless Pers. Commun."},{"issue":"3\u20134","key":"23281_CR13","doi-asserted-by":"publisher","first-page":"325","DOI":"10.1016\/0025-3227(85)90062-3","volume":"65","author":"MA Gerges","year":"1985","unstructured":"Gerges, M. A. & Stanley, D. J. Assessing hydrography and man\u2019s influence on sediments in the Northern Suez Canal. Mar. Geol. 65 (3\u20134), 325\u2013331 (1985).","journal-title":"Mar. Geol."},{"issue":"4","key":"23281_CR14","doi-asserted-by":"publisher","first-page":"988","DOI":"10.35940\/ijitee.C8893.029420","volume":"9","author":"CS Muzammel","year":"2020","unstructured":"Muzammel, C. S., Chakraborty, P., Akram, M. N., Ahammad, K. & Mohibullah, M. Zero-shot learning to detect object instances from unknown image sources. Int. J. Innov. Technol. Explor. Eng. 9 (4), 988\u2013991 (2020).","journal-title":"Int. J. Innov. Technol. Explor. Eng."},{"issue":"7","key":"23281_CR15","first-page":"233","volume":"11","author":"M Sultana","year":"2020","unstructured":"Sultana, M. et al. Object detection using template and HOG feature matching. Int. J. Adv. Comput. Sci. Appl. 11 (7), 233\u2013238 (2020).","journal-title":"Int. J. Adv. Comput. Sci. Appl."},{"key":"23281_CR16","doi-asserted-by":"crossref","unstructured":"Faruque, M. A. et al. Ascertaining Polarity of public opinions on Bangladesh cricket using machine learning techniques. Spatial Inform. Res. 1\u20138, (2021).","DOI":"10.1007\/s41324-021-00403-8"},{"key":"23281_CR17","doi-asserted-by":"crossref","unstructured":"Leonard, J. J. & Bahr, A. Autonomous underwater vehicle navigation. In Springer Handbook of Ocean Engineering, 341\u2013358 (2016).","DOI":"10.1007\/978-3-319-16649-0_14"},{"issue":"11","key":"23281_CR18","doi-asserted-by":"publisher","first-page":"6488","DOI":"10.3390\/app13116488","volume":"13","author":"C Altuntas","year":"2023","unstructured":"Altuntas, C. Review of scanning and pixel array-based LiDAR point-cloud measurement techniques to capture 3D shape or motion. Appl. Sci. 13 (11), 6488 (2023).","journal-title":"Appl. Sci."},{"key":"23281_CR19","unstructured":"Kellerer-Pirklbauer, A., Avian, M., Kaufmann, V., Niesner, E. & K\u00fchnast, B. Climatic-induced spatio-temporal change of kinematics and ground temperature of rock glaciers and permafrost in the Hohe Tauern Range, Austria. permafrost\u2014Austrian Permafr. Res. Initiative Final Report, 17\u201339 (2014)."},{"key":"23281_CR20","doi-asserted-by":"crossref","unstructured":"Marie, H. S. & Oqda, K. R. Design of a ROUV to guide in narrow lanes. In International Telecommunications Conference (ITC-Egypt), 698\u2013705 (IEEE, 2024).","DOI":"10.1109\/ITC-Egypt61547.2024.10620522"},{"key":"23281_CR21","doi-asserted-by":"crossref","unstructured":"Li, B., Ma, Z. & Zhao, Y. 2D Mapping of mobile robot based on micro-ROS. In Journal of Physics: Conference Series, 012030 (IOP Publishing, 2022).","DOI":"10.1088\/1742-6596\/2402\/1\/012030"},{"key":"23281_CR22","doi-asserted-by":"crossref","unstructured":"Tsuruoka, S. et al. ROS evaluation for a series of CNTs and their derivatives using an ESR method with DMPO. In Journal of Physics: Conference Series, 012029 (IOP Publishing, 2013).","DOI":"10.1088\/1742-6596\/429\/1\/012029"},{"key":"23281_CR23","doi-asserted-by":"crossref","unstructured":"Bingham, A., Hadoux, X. & Kumar, D. K. Implementation of a safety system using ir and ultrasonic devices for mobility scooter obstacle collision avoidance. In 5th ISSNIP-IEEE Biosignals and Biorobotics Conference (2014): Biosignals and Robotics for Better and Safer Living (BRC), 1\u20135 (IEEE, 2014).","DOI":"10.1109\/BRC.2014.6881000"},{"key":"23281_CR24","doi-asserted-by":"crossref","unstructured":"Chikhalikar, A., Ravankar, A. A., Luces, J. V. S., Tafrishi, S. A. & Hirata, Y. An object-oriented navigation strategy for service robots leveraging semantic information. In 2023 IEEE\/SICE International Symposium on System Integration (SII), 1\u20136 (IEEE, 2023).","DOI":"10.1109\/SII55687.2023.10039409"},{"key":"23281_CR25","unstructured":"DIY Submersible ROV : 8 Steps (with Pictures) - Instructables. https:\/\/www.instructables.com\/DIY (Accessed 14 Apr 2024)."},{"issue":"4","key":"23281_CR26","doi-asserted-by":"publisher","first-page":"256","DOI":"10.3390\/machines12040256","volume":"12","author":"M Liu","year":"2024","unstructured":"Liu, M., Chen, M., Wu, Z., Zhong, B. & Deng, W. Implementation of intelligent indoor service robot based on ROS and deep learning. Machines 12 (4), 256 (2024).","journal-title":"Machines"}],"container-title":["Scientific Reports"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.nature.com\/articles\/s41598-025-23281-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41598-025-23281-8","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.nature.com\/articles\/s41598-025-23281-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T08:45:59Z","timestamp":1762505159000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.nature.com\/articles\/s41598-025-23281-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11,7]]},"references-count":26,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2025,12]]}},"alternative-id":["23281"],"URL":"https:\/\/doi.org\/10.1038\/s41598-025-23281-8","relation":{},"ISSN":["2045-2322"],"issn-type":[{"value":"2045-2322","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,11,7]]},"assertion":[{"value":"17 May 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"6 October 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 November 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"39011"}}