Acquisition and registration of bathymetric acoustic data and MOFSLI (multiple overlapping field of view serial laser imager)

Obtaining three-dimensional sub-centimeter resolution views of the seafloor is advantageous in many areas. Sonar has the ability to provide three-dimensional bathymetry while laser line scan (LLS) systems are able to provide sub-centimeter resolutions. The ability to acquire and register these datasets simultaneously can provide these detailed seafloor views. A LLS prototype was developed at Harbor Branch Oceanographic Institute (HBOI) for use in conjunction with a sonar system. This prototype is coined Multiple Overlapping Field of View Serial Laser Imager (MOFSLI). The eventual goal is to create a combined laser-acoustic survey sensor for an autonomous underwater vehicle (AUV). This paper gives an overview of the MOFSLI prototype system components as well as the experimental procedures and the process of registering the optical and acoustic datasets. Sea trials with the combined system were performed and data was successfully collected and registered.