Kornati bathymetry survey data-set for navigation and mapping

This paper reports a navigation and mapping data-set collected in the Croatian Kornati Archipelago during the "Breaking the Surface 2010" International Interdisciplinary Field Training of Marine Robotics and Applications event. A sensor ridge including a navigation and mapping sensor suite, to be later installed in the GIRONA500 AUV being developed a the university of Girona, was attached to a motor boat to collect geo-referenced data. The sensor suite includes a Multibeam sonar profiler, an AHRS, a DGPS, a sound-speed profiler including a depth cell, a video camera and a mechanical scanning sonar profiler. The paper reports the experiment performed as well as the navigation and mapping results using: 1) GPS only (used as a ground truth), 2) Dead Reckoning only, and 3) a preliminary method fusing dead reckoning with surface registration based on a simple modification of the well known ICP algorithm. Preliminary, but promising, results show that a better performance may be achieved using the last method.