Figure 11
From top to bottom: the estimated radar map of the area, the true radar map generated using GPS and a satellite photo of the archipelago. a The estimated map created by overlaying the radar scans on the estimated trajectory. The estimated trajectory is marked with a black line. b A radar map created using the GPS measurements of the trajectory. The true trajectory is marked with a black line. c A satellite photo of the area. The true trajectory is marked with a white line. Many islands in (a) are easily identified in this photo.