Intensity based local terrain estimation with a multi-beam sonar

The motivating mission for the work presented in this paper is performing photo-surveys of areas of the deep ocean seafloor using an autonomous underwater vehicle (AUV). This paper describes a method for estimating the full terrain profile ahead of an AUV using an obstacle avoidance sonar. This allows the use of an existing trajectory planning method to optimize low altitude trajectories for high imaging coverage of the terrain. Field data from several dives by the Monterey Bay Aquarium Research Institute are presented to demonstrate the method.