<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-01119695</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-20T15:08:08+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">The fusion of digital terrain models measured from multiple acoustic sensors – Application to the DAURADE autonomous underwater vehicle</title>
            <author role="aut">
              <persName>
                <forename type="first">Ridha</forename>
                <surname>Fezzani</surname>
              </persName>
              <idno type="halauthorid">700965-0</idno>
              <affiliation ref="#struct-389194"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Benoit</forename>
                <surname>Zerr</surname>
              </persName>
              <email type="md5">552b0498e4aebb545f2407b60cf3511a</email>
              <email type="domain">ensta-bretagne.fr</email>
              <idno type="idhal" notation="string">benzr</idno>
              <idno type="idhal" notation="numeric">752510</idno>
              <idno type="halauthorid" notation="string">31411-752510</idno>
              <affiliation ref="#struct-301846"/>
              <affiliation ref="#struct-389194"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Michel</forename>
                <surname>Legris</surname>
              </persName>
              <email type="md5">104df41310b99224bd1c48f45ade8771</email>
              <email type="domain">ensta-bretagne.fr</email>
              <idno type="idhal" notation="string">michel-legris</idno>
              <idno type="idhal" notation="numeric">745409</idno>
              <idno type="halauthorid" notation="string">2092-745409</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-6419-5554</idno>
              <affiliation ref="#struct-301846"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Ali</forename>
                <surname>Mansour</surname>
              </persName>
              <email type="md5">0b6585812a25f306cb5513ffd302826b</email>
              <email type="domain">ieee.org</email>
              <idno type="idhal" notation="string">ali-mansour</idno>
              <idno type="idhal" notation="numeric">9840</idno>
              <idno type="halauthorid" notation="string">19932-9840</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-4144-8832</idno>
              <idno type="IDREF">https://www.idref.fr/118755072</idno>
              <affiliation ref="#struct-390257"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Yann</forename>
                <surname>Dupas</surname>
              </persName>
              <email type="md5">02fbba1ac1f7d24e21614214953e10d3</email>
              <email type="domain">shom.fr</email>
              <idno type="idhal" notation="numeric">874270</idno>
              <idno type="halauthorid" notation="string">480265-874270</idno>
              <affiliation ref="#struct-72742"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Annick</forename>
                <surname>Billon-Coat</surname>
              </persName>
              <email type="md5">55be6c230b537558ec299c7d8efcf80b</email>
              <email type="domain">ensta.fr.invalid</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2015-02-23 17:23:46</date>
              <date type="whenModified">2026-01-23 09:12:06</date>
              <date type="whenReleased">2015-02-23 17:23:46</date>
              <date type="whenProduced">2014-06-22</date>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="148298">
                <persName>
                  <forename>Annick</forename>
                  <surname>Billon-Coat</surname>
                </persName>
                <email type="md5">55be6c230b537558ec299c7d8efcf80b</email>
                <email type="domain">ensta.fr.invalid</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-01119695</idno>
            <idno type="halUri">https://hal.science/hal-01119695</idno>
            <idno type="halBibtex">fezzani:hal-01119695</idno>
            <idno type="halRefHtml">&lt;i&gt;UA 2014&lt;/i&gt;, Jun 2014, Rhodes, Greece</idno>
            <idno type="halRef">UA 2014, Jun 2014, Rhodes, Greece</idno>
            <availability status="restricted"/>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UNIV-BREST">Université de Bretagne occidentale - Brest (UBO)</idno>
            <idno type="stamp" n="ENSTA-BRETAGNE">ENSTA Bretagne</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UNIV-UBS">Université de Bretagne Sud</idno>
            <idno type="stamp" n="ENSTA-BRETAGNE-STIC" corresp="ENSTA">UFR S2I - Brest / Lab-STICC - Brest</idno>
            <idno type="stamp" n="ENIB">Ecole Nationale d'Ingénieurs de Brest</idno>
            <idno type="stamp" n="LAB-STICC_ENIB" corresp="ENIB">Laboratoire des Sciences et Techniques de l'Information, de la Communication et de la Connaissance, site ENIB Brest</idno>
            <idno type="stamp" n="LAB-STICC">Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance</idno>
            <idno type="stamp" n="CMM">Campus Mondial de la Mer</idno>
            <idno type="stamp" n="INSTITUTS-TELECOM">composantes instituts telecom </idno>
            <idno type="stamp" n="ENSTA">Ensta</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="0">No</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">The fusion of digital terrain models measured from multiple acoustic sensors – Application to the DAURADE autonomous underwater vehicle</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Ridha</forename>
                    <surname>Fezzani</surname>
                  </persName>
                  <idno type="halauthorid">700965-0</idno>
                  <affiliation ref="#struct-389194"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Benoit</forename>
                    <surname>Zerr</surname>
                  </persName>
                  <email type="md5">552b0498e4aebb545f2407b60cf3511a</email>
                  <email type="domain">ensta-bretagne.fr</email>
                  <idno type="idhal" notation="string">benzr</idno>
                  <idno type="idhal" notation="numeric">752510</idno>
                  <idno type="halauthorid" notation="string">31411-752510</idno>
                  <affiliation ref="#struct-301846"/>
                  <affiliation ref="#struct-389194"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Michel</forename>
                    <surname>Legris</surname>
                  </persName>
                  <email type="md5">104df41310b99224bd1c48f45ade8771</email>
                  <email type="domain">ensta-bretagne.fr</email>
                  <idno type="idhal" notation="string">michel-legris</idno>
                  <idno type="idhal" notation="numeric">745409</idno>
                  <idno type="halauthorid" notation="string">2092-745409</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-6419-5554</idno>
                  <affiliation ref="#struct-301846"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Ali</forename>
                    <surname>Mansour</surname>
                  </persName>
                  <email type="md5">0b6585812a25f306cb5513ffd302826b</email>
                  <email type="domain">ieee.org</email>
                  <idno type="idhal" notation="string">ali-mansour</idno>
                  <idno type="idhal" notation="numeric">9840</idno>
                  <idno type="halauthorid" notation="string">19932-9840</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-4144-8832</idno>
                  <idno type="IDREF">https://www.idref.fr/118755072</idno>
                  <affiliation ref="#struct-390257"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Yann</forename>
                    <surname>Dupas</surname>
                  </persName>
                  <email type="md5">02fbba1ac1f7d24e21614214953e10d3</email>
                  <email type="domain">shom.fr</email>
                  <idno type="idhal" notation="numeric">874270</idno>
                  <idno type="halauthorid" notation="string">480265-874270</idno>
                  <affiliation ref="#struct-72742"/>
                </author>
              </analytic>
              <monogr>
                <meeting>
                  <title>UA 2014</title>
                  <date type="start">2014-06-22</date>
                  <date type="end">2014-06-27</date>
                  <settlement>Rhodes</settlement>
                  <country key="GR">Greece</country>
                </meeting>
                <imprint>
                  <biblScope unit="serie">UA 2014</biblScope>
                  <date type="datePub">2014-06-22</date>
                </imprint>
              </monogr>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">AUV</term>
                <term xml:lang="en">multibeam</term>
                <term xml:lang="en">interferometric sidescan</term>
                <term xml:lang="en">fusion</term>
                <term xml:lang="en">seafloor</term>
                <term xml:lang="en">bathymetry</term>
              </keywords>
              <classCode scheme="halDomain" n="spi.acou">Engineering Sciences [physics]/Acoustics [physics.class-ph]</classCode>
              <classCode scheme="halDomain" n="spi.signal">Engineering Sciences [physics]/Signal and Image processing</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>Building an accurate digital terrain model (DTM) of the seabed is a key issue for various military and civilian hydrographers applications.In the past decades, the emergence of autonomous underwater vehicles (AUV) offers new methodologies to collect the bathymetric data used in the estimation of the DTM. In our study, we use the DAURADE AUV platform which is capable of acquiring bathymetry with two acoustic sensors: A multibeam echo sounder (MBES) and an interferometric sidescan sonar (ISSS). The two sensors (MBES and ISSS) are synchronized to operate concurrently. In fact, the final DTM can be improved by performing a fusion of the data; the two systems acquire the bathymetry with different resolutions, geometries and error models; these parameters are introduced in the fusion process to improve the estimation of the DTM and to increase its accuracy.The aim of this paper is to describe the fusion method and discuss our simulated results. First, the modeling of two acoustic sensors (MBES and ISSS) will be briefly described. The input data sets are simulated by applying the sensor models on simplified seabed models. The use of seabed models provides ground truth and, therefore, allows for quantifying the accuracy of the fusion process.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-389194" status="INCOMING">
          <orgName>Lab-STICC_ENSTAB_CID_SFIIS ; OSM</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-171465" type="direct"/>
            <relation active="#struct-301846" type="indirect"/>
            <relation active="#struct-199324" type="direct"/>
            <relation active="#struct-108091" type="indirect"/>
            <relation active="#struct-131284" type="indirect"/>
            <relation active="#struct-300314" type="indirect"/>
            <relation active="#struct-1705235" type="indirect"/>
            <relation active="#struct-172265" type="indirect"/>
            <relation active="#struct-301262" type="indirect"/>
            <relation active="#struct-301521" type="indirect"/>
            <relation active="#struct-302102" type="indirect"/>
            <relation name="UMR6285" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-301846" status="OLD">
          <idno type="IdRef">177263660</idno>
          <idno type="ROR">https://ror.org/059n54003</idno>
          <orgName>École Nationale Supérieure de Techniques Avancées Bretagne</orgName>
          <orgName type="acronym">ENSTA Bretagne</orgName>
          <date type="end">2024-12-31</date>
          <desc>
            <address>
              <addrLine>2 rue François Verny, 29806 Brest cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.ensta-bretagne.fr</ref>
          </desc>
        </org>
        <org type="researchteam" xml:id="struct-390257" status="OLD">
          <orgName>Lab-STICC_ENSTAB_CACS_COM</orgName>
          <date type="end">2016-12-31</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-199324" type="direct"/>
            <relation active="#struct-108091" type="indirect"/>
            <relation active="#struct-131284" type="indirect"/>
            <relation active="#struct-300314" type="indirect"/>
            <relation active="#struct-1705235" type="indirect"/>
            <relation active="#struct-172265" type="indirect"/>
            <relation active="#struct-301262" type="indirect"/>
            <relation active="#struct-301521" type="indirect"/>
            <relation active="#struct-301846" type="indirect"/>
            <relation active="#struct-302102" type="indirect"/>
            <relation name="UMR6285" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="regrouplaboratory" xml:id="struct-72742" status="VALID">
          <orgName>Service Hydrographique et Océanographique de la Marine</orgName>
          <orgName type="acronym">SHOM</orgName>
          <desc>
            <address>
              <addrLine>13 rue du Chatellier 29200 BREST</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.shom.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-533790" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-171465" status="OLD">
          <orgName>Département STIC [Brest]</orgName>
          <orgName type="acronym">STIC</orgName>
          <date type="end">2024-12-31</date>
          <desc>
            <address>
              <addrLine>2 rue François Verny 29806 Brest cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ensta-bretagne.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301846" type="direct"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-199324" status="OLD">
          <orgName>Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance</orgName>
          <orgName type="acronym">Lab-STICC</orgName>
          <desc>
            <address>
              <addrLine>Technopole Brest Iroise BP 832 29285 BREST CEDEX</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.lab-sticc.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-108091" type="direct"/>
            <relation active="#struct-131284" type="direct"/>
            <relation active="#struct-300314" type="direct"/>
            <relation active="#struct-1705235" type="indirect"/>
            <relation active="#struct-172265" type="direct"/>
            <relation active="#struct-301262" type="direct"/>
            <relation active="#struct-301521" type="direct"/>
            <relation active="#struct-301846" type="direct"/>
            <relation active="#struct-302102" type="direct"/>
            <relation name="UMR6285" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-108091" status="OLD">
          <idno type="ROR">https://ror.org/033c46s90</idno>
          <orgName>Université européenne de Bretagne - European University of Brittany</orgName>
          <orgName type="acronym">UEB</orgName>
          <desc>
            <address>
              <addrLine>5 boulevard Laënnec - 35000 Rennes</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ueb.eu/</ref>
          </desc>
        </org>
        <org type="regrouplaboratory" xml:id="struct-131284" status="VALID">
          <idno type="ROR">https://ror.org/02ypw0a72</idno>
          <orgName>École Nationale d'Ingénieurs de Brest</orgName>
          <orgName type="acronym">ENIB</orgName>
          <desc>
            <address>
              <addrLine>945 avenue du Technopole - 29280 Plouzané</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.enib.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300314" type="direct"/>
            <relation active="#struct-1705235" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-300314" status="VALID">
          <idno type="IdRef">291809022</idno>
          <idno type="ISNI">0000000121880893</idno>
          <idno type="ROR">https://ror.org/0372th171</idno>
          <orgName>Université de Brest</orgName>
          <orgName type="acronym">UBO EPE</orgName>
          <desc>
            <address>
              <addrLine>Université de Bretagne Occidentale - 3 Rue des Archives 29238, Brest</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.univ-brest.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-1705235" status="VALID">
          <idno type="IdRef">291816037</idno>
          <orgName>Institut National Polytechnique de Bretagne</orgName>
          <orgName type="acronym">Bretagne INP</orgName>
          <date type="start">2025-03-01</date>
          <desc>
            <address>
              <addrLine>945 avenue du Technopôle Brest-Iroise, 29289 Plouzané</addrLine>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="institution" xml:id="struct-172265" status="VALID">
          <idno type="IdRef">05017746X</idno>
          <idno type="ISNI">0000000121680285</idno>
          <idno type="ROR">https://ror.org/04ed7fw48</idno>
          <orgName>Université de Bretagne Sud</orgName>
          <orgName type="acronym">UBS</orgName>
          <date type="start">1995-02-07</date>
          <desc>
            <address>
              <addrLine>BP 92116 - 56321 Lorient cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-ubs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-301262" status="OLD">
          <orgName>Télécom Bretagne</orgName>
          <date type="start">1977</date>
          <desc>
            <address>
              <addrLine>Technopôle Brest-IroiseCS 8381829238 BREST Cedex 3</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.telecom-bretagne.eu/</ref>
          </desc>
        </org>
        <org type="regrouplaboratory" xml:id="struct-301521" status="VALID">
          <orgName>Institut Brestois du Numérique et des Mathématiques</orgName>
          <orgName type="acronym">IBNM</orgName>
          <desc>
            <address>
              <addrLine>Université de Brest - UBO3 Rue des Archives, 29238 Brest</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.univ-brest.fr/menu/recherche-innovation/Laboratoires/Axe+Num%C3%A9rique-Math%C3%A9matiques/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300314" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-302102" status="VALID">
          <idno type="IdRef">192427156</idno>
          <idno type="ISNI">000000012202567X</idno>
          <idno type="ROR">https://ror.org/025vp2923</idno>
          <idno type="Wikidata">Q27962533</idno>
          <orgName>Institut Mines-Télécom [Paris]</orgName>
          <orgName type="acronym">IMT</orgName>
          <date type="start">2012-03-01</date>
          <desc>
            <address>
              <addrLine>19 Place Marguerite Perey, 91120 Palaiseau</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.imt.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-533790" status="VALID">
          <idno type="IdRef">026382385</idno>
          <idno type="ISNI">0000000121946119</idno>
          <idno type="ROR">https://ror.org/025er3q23</idno>
          <idno type="Wikidata">Q75706</idno>
          <orgName>Ministère des armées – Ministère de la défense [France] (1946-....)</orgName>
          <desc>
            <address>
              <addrLine>60 boulevard du général Martial Valin – 75509 Paris cedex 15</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.defense.gouv.fr/</ref>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>