Seafloor Mapping by 360 Degree View Camera with Sonar Supports

Seafloor mapping is usually done by many kinds of sonars. Recently, the mapping is tried by cameras and laser scanners whose resolution is higher in short range than sonars. But the area illuminated by floodlights isn't large underwater and there is few or no ambient light over 100 m depth. Therefore, in deep water, camera view is much smaller than the original Field of View. To maximize the performance of underwater observation with cameras, we developed an image capturing processing and visualization system in collaboration with Nissan Motor Company that builds upon and extends the technology used in their Around View Driving Assistance System. The view of the system covers all of the lower hemisphere, and records the view and undulations of seafloor using sonar.