Deep-sea geo-referenced video mosaics

Seafloor imagery is an important tool for scientists engaged in quantifying geological and biological processes operating on the deep-ocean floor. Large-scale mosaics of seafloor imagery have significant advantages over individual still photographs and video footage as they are able to capture large areas while retaining sufficient resolution to identify small-scale features. However, the process of constructing a mosaic is usually limited to a single panorama or transects from still imagery, and often requires manual control by the user. The goal of this paper is to describe a methodology that allows for utilization of navigation data for robust automatic construction and geo-referencing of video mosaics. This methodology is designed specifically for the :submersible Alvin, but our methodology may be modified for use with other underwater vehicles and is broadly applicable to the creation of mosaics in a variety of sealloor settings.