We present three-dimensional helicity maps of fully developed turbulence obtained through chirality tomography, a Lagrangian voxel-based method that reconstructs helicity density from particle trajectories. Our approach builds on an empirically established relation between helicity and trajectory linking, converting local counts of signed crossings $\mathcal{K}$ into volumetric maps of dimensionless helicity, $\mathcal{H}\left(\mathit{x}\right)$. We demonstrate that the entanglement of particle trajectories, quantified by the mean signed crossing number, provides a robust proxy for helicity, not only at the global scale, but also locally in space and time. Our method can reveal local spatial heterogeneities in helicity and relate them to large-scale flow organization, enabling the reconstruction of spatially resolved chiral structures. Applied to von Kármán experiments and Taylor-Green direct numerical simulations, the method reveals iso-helicity surfaces and coherent chiral features, while time series of $\mathcal{K}$ accurately track the evolution of domain-averaged helicity. The proportionality between $\mathcal{K}$ and $\mathcal{H}$ remains robust across different voxel geometries and different values of particle inertia, but is not held in laminar or time-modulated flows. This study shows that chirality tomography provides a practical helicity diagnostic in turbulent flows, while establishing a direct bridge between trajectory-level topology and a fundamental dynamical invariant of turbulence.

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• Helicity
• Particle-laden flows
• Turbulence
• Lagrangian particle tracking
• Topological tools