diff --git a/ui/index.html b/ui/index.html
index 0df21e3..a9c1998 100644
--- a/ui/index.html
+++ b/ui/index.html
@@ -115,8 +115,63 @@ input[type=range] { cursor: pointer; }
     <div class="mt-auto text-gray-700" style="font-size:10px">PKT/s: <span id="v-hz" class="text-gray-500">--</span></div>
   </div><!-- end LEFT -->
 
-  <!-- CENTER: Three.js viewport -->
-  <div id="three-container" class="flex-1 relative overflow-hidden" style="background:#050510"></div>
+  <!-- CENTER: Sensor feeds + 3D viewport -->
+  <div id="center-panel" class="flex-1 relative overflow-hidden" style="background:#050510">
+    <!-- Sensor feed tabs -->
+    <div id="sensor-tabs" class="absolute top-0 left-0 right-0 flex gap-1 bg-[#070712] border-b border-cyan-950 px-2 py-1 z-10" style="font-size:10px">
+      <button onclick="switchSensorView('3d')" class="sensor-tab-btn active px-2 py-1 rounded bg-cyan-950 border border-cyan-800 text-cyan-300 font-bold">3D MODEL</button>
+      <button onclick="switchSensorView('gps')" class="sensor-tab-btn px-2 py-1 rounded bg-gray-900 border border-gray-700 text-gray-400 font-bold">GPS</button>
+      <button onclick="switchSensorView('lidar')" class="sensor-tab-btn px-2 py-1 rounded bg-gray-900 border border-gray-700 text-gray-400 font-bold">LIDAR</button>
+      <button onclick="switchSensorView('realsense')" class="sensor-tab-btn px-2 py-1 rounded bg-gray-900 border border-gray-700 text-gray-400 font-bold">REALSENSE</button>
+    </div>
+
+    <!-- 3D viewport -->
+    <div id="three-container" class="sensor-view active w-full h-full" style="background:#050510"></div>
+
+    <!-- GPS map -->
+    <div id="gps-view" class="sensor-view hidden w-full h-full flex flex-col">
+      <div class="flex-1 relative overflow-hidden bg-gray-950">
+        <iframe id="gps-map" src="" class="w-full h-full border-0" style="background:#050510"></iframe>
+        <div id="gps-loading" class="absolute inset-0 flex items-center justify-center bg-black bg-opacity-50">
+          <span class="text-cyan-400">Fetching GPS data from /gps...</span>
+        </div>
+      </div>
+      <div class="bg-[#070712] border-t border-cyan-950 px-2 py-1.5 flex gap-2">
+        <span id="gps-status" class="text-cyan-400 text-xs">--</span>
+        <span id="gps-coords" class="text-gray-500 text-xs">--</span>
+        <span id="gps-alt" class="text-gray-500 text-xs">--</span>
+      </div>
+    </div>
+
+    <!-- LIDAR point cloud -->
+    <div id="lidar-view" class="sensor-view hidden w-full h-full flex flex-col">
+      <canvas id="lidar-canvas" class="flex-1" style="background:#050510"></canvas>
+      <div class="bg-[#070712] border-t border-cyan-950 px-2 py-1.5 flex gap-2">
+        <span id="lidar-status" class="text-cyan-400 text-xs">Ready</span>
+        <span id="lidar-points" class="text-gray-500 text-xs">Points: --</span>
+        <span id="lidar-range" class="text-gray-500 text-xs">Range: --m</span>
+      </div>
+    </div>
+
+    <!-- RealSense (RGB + Depth side-by-side) -->
+    <div id="realsense-view" class="sensor-view hidden w-full h-full flex flex-col">
+      <div class="flex-1 flex gap-1 overflow-hidden">
+        <div class="flex-1 relative bg-gray-950">
+          <div id="rs-rgb-loading" class="absolute inset-0 flex items-center justify-center bg-black bg-opacity-50 text-xs text-cyan-400">RGB...</div>
+          <canvas id="rs-rgb-canvas" class="w-full h-full"></canvas>
+        </div>
+        <div class="flex-1 relative bg-gray-950">
+          <div id="rs-depth-loading" class="absolute inset-0 flex items-center justify-center bg-black bg-opacity-50 text-xs text-cyan-400">Depth...</div>
+          <canvas id="rs-depth-canvas" class="w-full h-full"></canvas>
+        </div>
+      </div>
+      <div class="bg-[#070712] border-t border-cyan-950 px-2 py-1.5 flex gap-2">
+        <span id="rs-status" class="text-cyan-400 text-xs">Ready</span>
+        <span id="rs-fps" class="text-gray-500 text-xs">FPS: --</span>
+        <span id="rs-res" class="text-gray-500 text-xs">-- px</span>
+      </div>
+    </div>
+  </div>
 
   <!-- RIGHT: Comms Stats (w-56 = 224px) -->
   <div class="w-56 shrink-0 flex flex-col gap-3 p-3 bg-[#070712] border-l border-cyan-950 overflow-y-auto">
@@ -838,6 +893,284 @@ async function readLoop() {
         }
     } catch(e) { setStatus('Read err: ' + e.message); }
 }
+
+// ── Sensor feed tab switching ──────────────────────────────────────────────────
+window.switchSensorView = function(view) {
+    // Hide all views
+    document.querySelectorAll('.sensor-view').forEach(el => el.classList.add('hidden'));
+    // Show selected view
+    document.getElementById(view + '-view').classList.remove('hidden');
+    // Update tab buttons
+    document.querySelectorAll('.sensor-tab-btn').forEach(btn => {
+        btn.classList.add('bg-gray-900', 'border-gray-700', 'text-gray-400');
+        btn.classList.remove('bg-cyan-950', 'border-cyan-800', 'text-cyan-300');
+    });
+    event.target.classList.remove('bg-gray-900', 'border-gray-700', 'text-gray-400');
+    event.target.classList.add('bg-cyan-950', 'border-cyan-800', 'text-cyan-300');
+
+    // Initialize sensor if needed
+    if (view === 'gps') initGPS();
+    else if (view === 'lidar') initLIDAR();
+    else if (view === 'realsense') initRealSense();
+};
+
+// ── GPS Map fetcher ───────────────────────────────────────────────────────────
+let gpsInitialized = false;
+function initGPS() {
+    if (gpsInitialized) return;
+    gpsInitialized = true;
+
+    async function fetchGPS() {
+        try {
+            const resp = await fetch('http://localhost:8888/gps', { mode: 'cors', cache: 'no-store' });
+            if (!resp.ok) throw new Error(`HTTP ${resp.status}`);
+            const data = await resp.json();
+            // data: { lat, lon, alt, accuracy, timestamp }
+            if (data.lat !== undefined && data.lon !== undefined) {
+                document.getElementById('gps-loading').classList.add('hidden');
+                document.getElementById('gps-status').textContent = 'LIVE';
+                document.getElementById('gps-coords').textContent = `${data.lat.toFixed(6)}, ${data.lon.toFixed(6)}`;
+                if (data.alt !== undefined) {
+                    document.getElementById('gps-alt').textContent = `Alt: ${data.alt.toFixed(1)}m`;
+                }
+
+                // Render simple map iframe (OSM + marker)
+                const mapHtml = `
+                    <!DOCTYPE html><html><head>
+                    <link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css" />
+                    <script src="https://unpkg.com/leaflet@1.9.4/dist/leaflet.js"><\/script>
+                    <style>
+                        * { margin: 0; padding: 0; box-sizing: border-box; }
+                        body { font-family: monospace; background: #050510; }
+                        #map { width: 100%; height: 100%; }
+                    </style>
+                    </head><body>
+                    <div id="map"></div>
+                    <script>
+                        const map = L.map('map').setView([${data.lat}, ${data.lon}], 18);
+                        L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
+                            attribution: '© OSM',
+                            maxZoom: 19
+                        }).addTo(map);
+                        L.circleMarker([${data.lat}, ${data.lon}], {
+                            radius: 8,
+                            fillColor: '#00ff00',
+                            color: '#fff',
+                            weight: 2,
+                            opacity: 0.9,
+                            fillOpacity: 0.8
+                        }).addTo(map);
+                    <\/script>
+                    </body></html>
+                `;
+                const blob = new Blob([mapHtml], { type: 'text/html' });
+                document.getElementById('gps-map').src = URL.createObjectURL(blob);
+            }
+        } catch (e) {
+            document.getElementById('gps-status').textContent = 'ERROR: ' + e.message;
+        }
+    }
+
+    // Fetch every 2 seconds
+    fetchGPS();
+    setInterval(fetchGPS, 2000);
+}
+
+// ── LIDAR Point Cloud (topic /scan, rosbridge) ─────────────────────────────
+let lidarInitialized = false, lidarCanvas = null, lidarCtx = null;
+function initLIDAR() {
+    if (lidarInitialized) return;
+    lidarInitialized = true;
+    lidarCanvas = document.getElementById('lidar-canvas');
+    lidarCtx = lidarCanvas.getContext('2d');
+    lidarCanvas.width = lidarCanvas.clientWidth;
+    lidarCanvas.height = lidarCanvas.clientHeight;
+
+    // Subscribe to /scan via rosbridge (assumes rosbridge running on localhost:9090)
+    let latestScan = null;
+
+    async function subscribeLIDAR() {
+        try {
+            const ws = new WebSocket('ws://localhost:9090');
+            ws.onopen = () => {
+                ws.send(JSON.stringify({
+                    op: 'subscribe',
+                    topic: '/scan',
+                    type: 'sensor_msgs/LaserScan'
+                }));
+            };
+            ws.onmessage = (ev) => {
+                try {
+                    const data = JSON.parse(ev.data);
+                    if (data.msg) {
+                        latestScan = data.msg;
+                    }
+                } catch (e) {}
+            };
+            ws.onerror = (e) => {
+                document.getElementById('lidar-status').textContent = 'WebSocket error: ' + e;
+            };
+        } catch (e) {
+            document.getElementById('lidar-status').textContent = 'Connection error: ' + e.message;
+        }
+    }
+
+    subscribeLIDAR();
+
+    // Draw loop
+    function drawLIDAR() {
+        const W = lidarCanvas.width;
+        const H = lidarCanvas.height;
+        const cx = W / 2, cy = H / 2;
+        const scale = Math.min(W, H) / 2 - 30;
+
+        lidarCtx.fillStyle = '#020208';
+        lidarCtx.fillRect(0, 0, W, H);
+
+        // Grid
+        lidarCtx.strokeStyle = 'rgba(0,255,255,0.08)';
+        lidarCtx.lineWidth = 0.5;
+        for (let d = 1; d <= 5; d++) {
+            const r = (d / 5) * scale;
+            lidarCtx.beginPath();
+            lidarCtx.arc(cx, cy, r, 0, 2 * Math.PI);
+            lidarCtx.stroke();
+        }
+
+        // Cardinal directions
+        lidarCtx.strokeStyle = 'rgba(0,255,255,0.15)';
+        lidarCtx.lineWidth = 1;
+        lidarCtx.beginPath();
+        lidarCtx.moveTo(cx, cy - scale);
+        lidarCtx.lineTo(cx, cy + scale);
+        lidarCtx.stroke();
+        lidarCtx.beginPath();
+        lidarCtx.moveTo(cx - scale, cy);
+        lidarCtx.lineTo(cx + scale, cy);
+        lidarCtx.stroke();
+
+        // Draw points
+        if (latestScan && latestScan.ranges) {
+            const ranges = latestScan.ranges;
+            const angleMin = latestScan.angle_min || -Math.PI;
+            const angleIncrement = latestScan.angle_increment || 0.01;
+            let pointCount = 0, maxRange = 0;
+
+            lidarCtx.fillStyle = '#06b6d4';
+            for (let i = 0; i < ranges.length; i++) {
+                const range = ranges[i];
+                if (range === 0 || !isFinite(range) || range > 30) continue;
+                const angle = angleMin + i * angleIncrement;
+                const x = cx + Math.cos(angle) * range / 30 * scale;
+                const y = cy - Math.sin(angle) * range / 30 * scale;
+                if (x >= 0 && x <= W && y >= 0 && y <= H) {
+                    lidarCtx.fillRect(x - 1, y - 1, 2, 2);
+                    pointCount++;
+                    maxRange = Math.max(maxRange, range);
+                }
+            }
+
+            document.getElementById('lidar-points').textContent = 'Points: ' + pointCount;
+            document.getElementById('lidar-range').textContent = 'Range: ' + maxRange.toFixed(1) + 'm';
+        }
+
+        // Forward indicator
+        lidarCtx.strokeStyle = '#f59e0b';
+        lidarCtx.lineWidth = 2;
+        lidarCtx.beginPath();
+        lidarCtx.moveTo(cx, cy);
+        lidarCtx.lineTo(cx, cy - scale * 0.3);
+        lidarCtx.stroke();
+
+        requestAnimationFrame(drawLIDAR);
+    }
+
+    drawLIDAR();
+}
+
+// ── RealSense Dual Stream (RGB + Depth) ────────────────────────────────────
+let realsenseInitialized = false;
+function initRealSense() {
+    if (realsenseInitialized) return;
+    realsenseInitialized = true;
+
+    const rgbCanvas = document.getElementById('rs-rgb-canvas');
+    const depthCanvas = document.getElementById('rs-depth-canvas');
+    const rgbCtx = rgbCanvas.getContext('2d');
+    const depthCtx = depthCanvas.getContext('2d');
+
+    rgbCanvas.width = rgbCanvas.clientWidth;
+    rgbCanvas.height = rgbCanvas.clientHeight;
+    depthCanvas.width = depthCanvas.clientWidth;
+    depthCanvas.height = depthCanvas.clientHeight;
+
+    let frameCount = 0, lastFpsTime = Date.now();
+
+    // Fetch RealSense streams from ROS bridge topics
+    async function subscribeRealSense() {
+        try {
+            const ws = new WebSocket('ws://localhost:9090');
+            ws.onopen = () => {
+                // Subscribe to RGB and depth images
+                ws.send(JSON.stringify({
+                    op: 'subscribe',
+                    topic: '/camera/color/image_raw/compressed',
+                    type: 'sensor_msgs/CompressedImage'
+                }));
+                ws.send(JSON.stringify({
+                    op: 'subscribe',
+                    topic: '/camera/depth/image_rect_raw/compressed',
+                    type: 'sensor_msgs/CompressedImage'
+                }));
+            };
+
+            ws.onmessage = (ev) => {
+                try {
+                    const data = JSON.parse(ev.data);
+                    if (data.msg) {
+                        const topic = data.topic;
+                        const msg = data.msg;
+                        if (msg.data && typeof msg.data === 'string') {
+                            // Base64 JPEG data
+                            const imgData = 'data:image/jpeg;base64,' + msg.data;
+                            const img = new Image();
+                            img.onload = () => {
+                                if (topic.includes('color')) {
+                                    document.getElementById('rs-rgb-loading').classList.add('hidden');
+                                    rgbCtx.drawImage(img, 0, 0, rgbCanvas.width, rgbCanvas.height);
+                                } else if (topic.includes('depth')) {
+                                    document.getElementById('rs-depth-loading').classList.add('hidden');
+                                    depthCtx.drawImage(img, 0, 0, depthCanvas.width, depthCanvas.height);
+                                }
+                            };
+                            img.src = imgData;
+                            frameCount++;
+                        }
+                    }
+                } catch (e) {}
+            };
+
+            ws.onerror = (e) => {
+                document.getElementById('rs-status').textContent = 'WebSocket error';
+            };
+        } catch (e) {
+            document.getElementById('rs-status').textContent = 'Connection error';
+        }
+    }
+
+    subscribeRealSense();
+
+    // FPS counter
+    setInterval(() => {
+        const now = Date.now();
+        const elapsed = (now - lastFpsTime) / 1000;
+        const fps = Math.round(frameCount / elapsed);
+        document.getElementById('rs-fps').textContent = 'FPS: ' + fps;
+        document.getElementById('rs-res').textContent = rgbCanvas.width + 'x' + rgbCanvas.height + ' px';
+        frameCount = 0;
+        lastFpsTime = now;
+    }, 1000);
+}
 </script>
 </body>
 </html>