The feat was accomplished by accessing two untapped streams of satellite data.
Thousands of previously uncharted mountains rising from the seafloor, called seamounts, have emerged through the map, along with new clues about the formation of the continents.
Combined with existing data and improved remote sensing instruments, the map gives scientists new tools to investigate ocean spreading centres and little-studied remote ocean basins.
Researchers also mapped the earthquakes. They discovered that seamounts and earthquakes are often linked. Most seamounts were once active volcanoes, and so are usually found near tectonically active plate boundaries, mid-ocean ridges and subducting zones.
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"The team has developed and proved a powerful new tool for high-resolution exploration of regional seafloor structure and geophysical processes," said Don Rice, programme director in the National Science Foundation's Division of Ocean Sciences, which funded the research.
Developed using a scientific model that captures gravity measurements of the ocean seafloor, the map extracts data from the European Space Agency's (ESA) CryoSat-2 satellite.
Data also came from Jason-1, NASA's satellite that was redirected to map gravity fields during the last year of its 12-year mission.
Researchers said the map provides a window into the tectonics of the deep oceans.
The map also provides a foundation for the upcoming new version of Google's ocean maps; it will fill large voids between shipboard depth profiles, researchers said.
Previously unseen features include newly exposed continental connections across South America and Africa and new evidence for seafloor spreading ridges in the Gulf of Mexico. The ridges were active 150 million years ago and are now buried by mile-thick layers of sediment.
The research was published in the journal Science.