AUV-derived geographical photomosaics - using multibeam bathymetry to correct image placement

A photomosaicking technique was improved by incorporating data from multibeam bathymetry acquired simultaneously with the seafloor images. AUV navigation logs are used to geographically place the images, as has been previously documented. This revision accounts for navigation offset and drift by using multibeam processing tools to refine image placement. The processed bathymetric grid combined with vehicle logs allow for the scaling of image size and illumination to produce more accurate photomosaics.