“…Probabilistic and statistical (Borenstein & Koren, 1991;Cañas & García-Alegre, 1999;Elfes, 1987;Lee, Cho, Chung, & Lee, Y., 2006;Lee, Lee, Y., Kölsch, & Chung, 2013;Lim & Cho, 1992;Moravec & Elfes, 1985), fuzzy logic (Gasós & Martín, 1996;Noykov & Roumenin, 2007), neural networks Kang, An, Kim, & Oh, 2010;Thrun, 1998, and ultrasonic arc map (UAM) (Barshan B., 2007) are used to build a mesh map where each square has an occupancy mark. The probabilistic and statistical methodologies have been extended to three dimensions to build a spatial map for underwater navigation in (Auran & Silven, 1996;Fairfi eld, Kantor, & Wettergreen, 2007). In Ribas, Ridao, & Neira (2010) the authors build 3D maps by stacking fl at ultrasonic arc maps.…”