Real time map generation using sidescan sonar scanlines for unmanned underwater vehicles

This work presents a method for mapping the seafloor in real time using scanline information of sidescan sonar on an unmanned underwater vehicle (UUV). The mapping system combines information about the motion of the UUV with observations made using sidescan sonar. The observation process detects environmental features and locates them relative to the UUV. The procedure localizes the feature and calculates the sidescan sonar footprint. An occupancy grid mapping algorithm is then used to map the seafloor, combining uncertainties in the motion of the UUV with measurement errors from the observations. This procedure was implemented on a UUV to verify its landmark detection and mapping capability. The experiment conducted on a sandy seabed with concrete targets is presented.