Computer Vision and Image Understanding 79, 143–161 (2000) doi:10.1006/cviu.2000.0850, available online at http://www.idealibrary.com on Microbathymetric Mapping from Underwater Vehicles in the Deep Ocean Hanumant Singh Department of Applied Ocean Physics and Engineering, MS #7, Woods Hole Oceanographic Institution, Woods Hole, Massachusetts 02543 E-mail: hsingh@whoi.edu Louis Whitcomb Department of Mechanical Engineering, Johns Hopkins University, Baltimore, Maryland 21218 E-mail: llw@jhu.edu and Dana Yoerger and Oscar Pizarro Department of Applied Ocean Physics and Engineering, MS #7, Woods Hole Oceanographic Institution, Woods Hole, Massachusetts 02543 E-mail: dyoerger@whoi.edu Received March 29, 1999; accepted February 4, 2000 In this paper we present a methodology for very high resolution acoustic mapping from an underwater vehicle. Based on the navigation, attitude, and bathymetric sen- sors that currently exist we show that the major issues for underwater mapping involve modeling sonar-specific artefacts due to beam pattern effects, calibration offsets of attitude sensors, and estimation and correction of tidal influences. We present an algorithm for modeling the beam pattern and for estimating calibration errors based upon specific vehicle maneuvers. Using a 675-kHz mechanically scanned pencil- beam sonar mounted on the Jason ROV, mapping results from an archaeological site at water depth 800 m in the Mediterranean are presented that are seen to be consistent and independently verifiable. c  2000 Academic Press 1. INTRODUCTION The rapid attenuation of electromagnetic radiation underwater makes acoustic sensing the modality of choice for underwater mapping and navigation. The principal tradeoff in using this modality is between range and resolution. Higher frequencies provide much higher resolution but are attenuated much faster in sea water [13] and thus have less range. The 143 1077-3142/00 $35.00 Copyright c  2000 by Academic Press All rights of reproduction in any form reserved.