This research could be of interest regarding sensor data processing. Gabrielle Inglis (PhD Student, University of Rhode Island) presented her research about underwater mapping techniques at my University yesterday. She is using ROV camera and sonar data to create 2D and 3D maps of underwater areas.
Inglis, G., & Roman, C. (2009). Terrain constrained stereo correspondence. OCEANS 2009, MTS/IEEE Biloxi - Marine Technology for Our Future: Global and Local Challenges, pp.1-9, Oct 26-29.
Inglis, G., Vaughn, I., Smart, C., & Roman, C. (2011). Development of high resolution sea floor mapping tools and techniques. Poster presented at Discovery@URI, Kingston, R.I., 13 Apr.
Roman, C., Inglis, G., Vaughn, J. I., Smart, C., Douillard, B., & Williams, S. (2012). The development of high-resolution seafloor mapping techniques. In K. L. C. Bell, K. Elliot, C. Martinez, and S. A. Fuller (eds.), New Frontiers in Ocean Exploration: The E/V Nautilus and NOAA Ship Okeanos Explorer 2011 Field Season. Oceanography 25(1), supplement, pp. 42-45.