Rigid data association for shallow water surveys

An automatic procedure for target data association is presented here. The procedure is particularly appropriate for shallow water applications, where navigation errors are limited and where sufficient overlap is present between successively surveyed areas. The proposed method includes a performance check that can be used to confirm that solutions are meaningful and also to produce a time-bounded implementation suitable for real-time operation. Main applications for the procedure include change detection and navigation enhancements (for example, by concurrent mapping and localisation/simultaneous localisation and mapping procedures). Results are presented for different survey platforms.