A non-deterministic approach to 3-D modeling underwater

A framework for multisensor exploration of underwater environments is presented with results of applications in 3-dimensional sonar mapping. A multidimensional model provides the basis for extracting information relevant to concurrent real-time processes. Probabilistic methods account for nonideal sensors while spatial decomposition and numerical techniques treat amorphous underwater features and allow an incremental approach to representing the surroundings. No all-encompassing theory is advocated. A plausible kit of multidisciplinary tools has shown immediate benefits when applied to subsea tasks. Computer simulations and field applications with profiling and imaging sonars aboard ships, towed platforms, and remotely operated vehicles offer supporting evidence in the areas of underwater archaeology, geological mapping, and search operations.