Under CopyrightWoock, PhilippPhilippWoock2022-03-1213.8.20132013https://publica.fraunhofer.de/handle/publica/38054410.24406/publica-fhg-380544In this paper we present an existing framework for surface reconstruction from side-scan data based on a forward simulation stage and an estimation stage which considers vehicular ego-motion. It is discussed how an extension of the method using a kernelized surface representation could look like and discuss approaches from literature like a Bayesian formulation in a Markov Random Field structure.enside-scan sonarsurface estimationnavigationSLAMkernels004670Kernel based surface recons truction in a side-scan sonar simulation frameworkconference paper