Geographical mosaicking of seafloor images acquired by an AUV

While seafloor image mosaics are typically produced using graphical methods, this technique uses AUV navigation logs to geographically place the individual images. The resulting mosaic is free from the spatial distortion that can occur from graphical methods under the unfavorable conditions of near-seafloor survey. Large mosaics can be produced without requiring image overlap. The photomosaics discussed in this study cover 60 meter square regions with a pixel resolution of approximately 1.5 millimeters, and they are generated from over 3000 images each.