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Accurate automated registration of sonar video images to complement measurements from traditional positioning devices can be instrumental in the detection, localization, and tracking of distinct scene targets, building feature maps, change detection, as well as improving precision in the positioning of unmanned submarines. This work offers a novel solution for the registration of two\u2010dimensional (2\u2010D) forward\u2010look sonar images recorded from a mobile platform, by optimization over the sonar 3\u2010D motion parameters. It incorporates the detection of key features and landmarks, and effectively represents them with Gaussian maps. Improved performance is demonstrated with respect to the state\u2010of\u2010the\u2010art approach utilizing 2\u2010D similarity transformation, based on experiments with real data.<\/jats:p>","DOI":"10.1002\/rob.21461","type":"journal-article","created":{"date-parts":[[2013,5,22]],"date-time":"2013-05-22T16:11:15Z","timestamp":1369239075000},"page":"602-623","source":"Crossref","is-referenced-by-count":62,"title":["On Feature Matching and Image Registration for Two\u2010dimensional Forward\u2010scan Sonar Imaging"],"prefix":"10.1002","volume":"30","author":[{"given":"Murat D.","family":"Aykin","sequence":"first","affiliation":[{"name":"Electrical and Computer Engineering University of Miami  Coral Gables Florida 33146"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shahriar","family":"Negahdaripour","sequence":"additional","affiliation":[{"name":"Electrical and Computer Engineering University of Miami  Coral Gables Florida 33146"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2013,5,22]]},"reference":[{"key":"e_1_2_7_2_1","first-page":"1027","volume-title":"Discrete Algorithms Proceedings of the Eighteenth Annual ACM\u2010SIAM Symposium","author":"Arthur D.","year":"2007"},{"key":"e_1_2_7_3_1","volume-title":"OCEANS 2012","author":"Aykin M.","year":"2012"},{"key":"e_1_2_7_4_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1024265401576"},{"key":"e_1_2_7_5_1","doi-asserted-by":"publisher","DOI":"10.1007\/11744023_32"},{"key":"e_1_2_7_6_1","volume-title":"Applied Physics Laboratory","author":"Belcher E.","year":"2003"},{"key":"e_1_2_7_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/34.121791"},{"key":"e_1_2_7_8_1","first-page":"2743","volume-title":"Proceedings of Intelligent Robots and Systems, (IROS). 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