Swath bathymetric data fusion Application to autonomous underwater vehicles

International audienceThe autonomous underwater vehicle (AUV) DAURADEplatform can acquire bathymetry with two acoustic sensors:a multibeam echo sounder (MBES) and an interferometricsidescan sonar (ISSS). The two sensors (MBES and ISSS) aresynchronized and they can simultaneously operate and acquirethe bathymetry with different resolutions, geometries and errormodels. This complementarily allows us to improve the accuracyand the coverage of the collected bathymetric data by fusing bothof them. We applied the fusion process on actual data from thetwo bathymetric sensors of DAURADE (Reson 7125 MBES andKlein 5000 Interferometric); the obtained results are presentedand discussed