Real-time seabed sediment classification (SSC) is crucial for underwater navigation, operations, and habitat assessment. Conventional methods relying on post-mission multibeam-echosounder (MBES) data processing impede in situ decision-making. We propose a novel, real-time SSC method deployable on both shipborne and Autonomous Underwater Vehicle (AUV) platforms, integrating three core components. Primarily, an efficient preprocessing pipeline comprising georeferencing, radiometric normalization, noise suppression, and incidence-angle correction enables rapid conversion of raw MBES backscatter into geometry-consistent tiles, supporting real-time operation with sub-second responsiveness. Afterwards, the system extracts multi-modal descriptors by combining entropy-regularised angular-response fitting for acoustic backscatter, object-level texture analysis using adaptive graph segmentation, and curvature-aware terrain metrics derived from quadratic surface fitting under entropy constraints by considering the physical responses and spatial distribution of MBES images and point clouds. Finally, a Dynamic Optimal Random Forest with Entropy-Adaptive Subnetwork Selection (DORF-EASNet) dynamically selects between a global classifier and lightweight domain-specific sub-models to match local acoustic complexity, achieving a balance between inference efficiency and physical interpretability. Field experiments conducted in Jiaozhou Bay and the South China Sea demonstrate the proposed framework’s robustness across platforms and sensing configurations, achieving macro-F1 scores of 0.881 and 0.913, respectively, while maintaining real-time processing capability exceeding that of conventional offline methods.
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