ROV seafloor surveys combining 5-cm lateral resolution multibeam bathymetry with color stereo photographic imagery

The Monterey Bay Aquarium Research Institute is developing a low altitude, high-resolution seafloor mapping capability that combines multibeam sonar with stereo photographic imagery. The goal is to obtain spatially quantitative, repeatable renderings of the seafloor with fidelity at scales of 5 cm or better from altitudes of 2-3 m. The initial test surveys using this sensor system are being conducted from a remotely operated vehicle (ROV). Ultimately we intend to field this survey system from an autonomous underwater vehicle (AUV). This presentation focuses on the current sensor configuration, methods for data processing, and results from recent test surveys. Bathymetry data are collected using a 400-kHz Reson 7125 multibeam sonar. This configuration produces 512 beams across a 135° wide swath; each beam has a 0.5° acrosstrack by 1.0° alongtrack angular width. At a 2-m altitude, the nadir beams have a 1.7-cm acrosstrack and 3.5 cm alongtrack footprint. Dual Allied Vision Technology GX1920 2.8 Mpixel color cameras provide color stereo photography of the seafloor. The camera housings have been fitted with corrective optics achieving a 90° field of view through a dome port. Illumination is provided by dual 100J xenon strobes. Position, depth, and attitude data are provided by a Kearfott SeaDevil Inertial Navigation System (INS) integrated with a 300 kHz RDI Doppler velocity log (DVL). A separate Paroscientific pressure sensor is mounted adjacent to the INS. The INS Kalman filter is aided by the DVL velocity and pressure data, achieving navigational drift rates less than 0.05% of the distance traveled during surveys. The sensors are mounted onto a toolsled fitted below MBARI's ROV Doc Ricketts with the sonars, cameras and strobes all pointed vertically down. During surveys the ROV flies at a 2-m altitude at speeds of 0.1-0.2 m/s. During a four-day R/V Western Flyer cruise in June 2013, we successfully collected multibeam and camera survey data from a 2-m altitude at three sites in the deep Monterey Canyon axis. The surveys lines were spaced 1.5-m and were flown at speeds of 0.1-0.2-m/s while the sonars pinged at 3 Hz and the cameras operated at 0.5 Hz. All three low-altitude surveys are at ~2850 m depth and lie within the 1-m lateral resolution bathymetry of a 2009, 50-m altitude MBARI Mapping AUV survey. Site 1 has the greatest topography, being centered on a 15 m diameter, 7 m high flat boulder surrounded by an 80 m diameter, 6 m deep scour pit. Site 2 is located within a field of ~3-m high apparent sediment waves with ~80-m wavelengths. Site 0 is flat and includes chemosynthetic clam communities. At a 2 m altitude, the multibeam bathymetry swath is more than 7 m wide and the camera images are 4 m wide. Following navigation adjustment to match features in overlapping bathymetry swaths, we achieve 5-cm lateral resolution topography overlain with ~1-mm scale photographic imagery.