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Retrieval of nearshore bathymetry in the Gulf of Chania, NW Crete, Greece, from

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Conference Paper · August 2018

DOI: 10.1117/12.2326189

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 PROCEEDINGS OF SPIE
SPIEDigitalLibrary.org/conference-proceedings-of-spie

Retrieval of nearshore bathymetry in

the Gulf of Chania, NW Crete,
Greece, from WorldWiew-2
multispectral imagery

Paraskevi Drakopoulou, Vasilis Kapsimalis, Issaak

Parcharidis, Kosmas Pavlopoulos

Paraskevi Drakopoulou, Vasilis Kapsimalis, Issaak Parcharidis, Kosmas

Pavlopoulos, "Retrieval of nearshore bathymetry in the Gulf of Chania, NW
Crete, Greece, from WorldWiew-2 multispectral imagery," Proc. SPIE 10773,
Sixth International Conference on Remote Sensing and Geoinformation of the
Environment (RSCy2018), 107730W (6 August 2018); doi:
10.1117/12.2326189

Event: Sixth International Conference on Remote Sensing and

Geoinformation of the Environment (RSCy2018), 2018, Paphos, Cyprus

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 Retrieval of nearshore bathymetry in the Gulf of Chania, NW Crete,
Greece, from WorldWiew-2 Multispectral Imagery
Paraskevi Drakopoulou*a,b, Vasilis Kapsimalisa, Issaak Parcharidisb, Kosmas Pavlopoulosc
a
Hellenic Centre for Marine Research, Institute of Oceanography, 46.7 km Athens-Sounio Ave.,
19013 Anavyssos, Attica, Greece; b Harokopio Univ., Dept. of Geography,70 Eleftheriou Venizelou
Avenue Kallithea, Greece; c Sorbonne Univ. Abu Dhabi, Dept. of Geography and Planning, P.O.
Box 38044 Abu Dhabi, United Arab Emirates

ABSTRACT

Shallow water bathymetry is recognized as one of the most fundamental topics in environmental studies, seabed
morphology research and management of the coastal zone. The detailed mapping as well as the long-term monitoring of
the changes in shallow marine relief is important for the successful completion of coastal construction and environmental
projects. In recent years, optical satellite imagery is proving to be a useful tool to determine coastal bathymetry, as it
provides a time- and cost- effective solution to water depths estimation. In this paper, the two most popular and
successful approaches for bathymetry retrieval, the Lyzenga (1985) linear bathymetry model and the Stumpf et al. (2003)
ratio method, have been applied to Worldview-2 satellite imagery, in order to derive the more accurate bathymetric
model for the shallow-water region of the Chania Gulf, located in NW Crete Island, Greece. This area is sea-grass free
and is dominated by sandy substrate with a few rocky outcrops. The models are implemented over the total study area -
no separation in subareas according to the bottom type. The results are compared with echo sounding ground truth depth
data. The outcomes of the statistical analysis indicate that the linear model provides increased accuracy than the ratio one
over the sandy bottom. On the contrary, in those parts covered by rocky bottoms, none of the two models provided
satisfactory results.
Keywords: Satellite-derived bathymetry, linear Regression, Band Ratios, Radiometric Correction

1. INTRODUCTION
The shallow-water, coastal zone is of paramount importance for the blue-growth and plays a key-role in marine spatial
planning and integrated coastal zone management. The coastal environments belong to the most dynamically changing
and vulnerable zones and host a vast amount of human activities. High-resolution bathymetry and seabed quality are a
prerequisite for any activity and sustainable development along the shallow coastal zone, such as recreational activities,
environmental monitoring, protections against marine hazards, underwater cultural heritage, navigation, fishing,
dredging, offshore platforms and underwater cables and pipelines, exploitation of mineral resources. However, very few,
small and scattered parts have been systematically mapped, with the use of the modern, direct techniques, such as the
high-resolution multi-beam echo-sounders. The latter require extensive and expensive field surveys on board purpose-
built research vessels with the use of high-cost equipment operated by expert personnel.
Recent satellite technologies and image processing algorithms have presented the opportunity to develop quantitative
techniques that have the potential to improve upon traditional photointerpretation techniques, in terms of cost, mapping
fidelity, and objectivity. Thus the use of optical satellite imagery has been explored as an alternative method to produce
reliable bathymetry in shallow water [1], [2], [3]. Optical multi-spectral satellite-derived bathymetry that implements
analytical or empirical methods, is based on the statistical relationships between image pixel values and field measured
water depth measurements. A variety of empirical models have been proposed and evaluated for bathymetric estimations,
from linear functions [4], band ratios to log transformed regression models [2], and non-linear inverse models [3].

*vivi@hcmr.gr; phone +30 22910 76377; fax +30 22910 76347; hcmr.gr

Sixth International Conf. on Remote Sensing and Geoinformation of the Environment (RSCy2018),
K. Themistocleous, G. Papadavid, S. Michaelides, V. Ambrosia, D. G. Hadjimitsis, Eds., Proc. of SPIE Vol. 10773,
107730W · © 2018 SPIE · CCC code: 0277-786X/18/$18 · doi: 10.1117/12.2326189

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 Linear method refers to algorithms which calculate bottom reflectance assuming that light is attenuated exponentially
with depth and water properties are homogeneous [4], [5], [6]. Many studies have successfully derived depths based on
this method [7], [8], [9]. Alternatively band ratio method refers to other radiative transfer equations that are based
on the ratio of two or more bands [2].
The present study aims to examine the two most popular remote sensing-based bathymetry mapping methods, the linear
band and the linear ratio models using the multispectral Worldview-2 satellite imagery data in conjunction with available
field observations for the test site of NW Cretan coasts, Gulf of Chania. The response of each one of the two models
concerning the reliability of the retrieved depth values for the entire area was evaluated, which means that the substrate
type or various depth zones haven't been taken into account before the models' algorithm were applied as in many
studies.

2. DATA ACQUISITION AND PREPROCESSING

2.1 Study area and data acquisition
The Gulf of Chania is an embayment of the Cretan Sea located in the northwestern region of the island of Crete. This
study covers a total length of 22 km (approximately), extending from Kolimbari in the west to the City of Chania in the
east (Figure 1). The depth estimation concerns the shallow-water part of the gulf. These waters are clear and the sea
bottom changes smoothly. Bottom type within the study area is sea-grass free and is dominated by sandy substrate with
a few rocky outcrops.
Bathymetric acquisitions took place from January 2014 to May 2015 during various field campaigns by using both single
and multi beam echo sounders. Concerning the single beam echosounder, the dual-frequency Humminbird (998c SI
Combo) was used mounted on the side of the survey vessel's hull. The 200-kHz frequency was selected in order to
succeed the optimum resolution. Depths were acquired with a step of 1 sounding per second along tracks. The multi
beam swath bathymetry was acquired during cruises with the R/V Alkyon using the echosounder the Reson 7125 dual
head (200 and 400 kHz). Horizontal positioning of the bathymetric data was accomplished through a GPS receiver built
in the echosounder utilized. In order for the positioning errors to be reduced to a few centimeters , the real-time
kinematic RTK GPS (Coda Octopus F 185+R) option (using the relevant portables antenna) offered by the Hellenic
positioning system (HEPOS), was apllied.
The Worldview-2 multispectral imageries used in this study, were acquired by the satellite at 09:25:37.52 and
09:25:49.21 UTC on 26 March, 2014. Sun azimuth were 152.2o and 152.1o , the sun elevation 53.7o and the cloud
coverage was 0% for both scenes. Footprints of the two images, which from now on are going to be named A the western
image and B the eastern one, are shown in Figure 1. The imageries were geometrically corrected and orthorectified by
DigitalGlobe and delivered at the "OR Standard 2A" product level [10]. They include the eight bands of Worldview2
multispectral images which will be symbolized from now on as B1 (coastal), B2 (blue), B3 (green), B4 (yellow), B5
(red), B6 (red-edge), NR1 (first near infrared) and NR2 (second near infrared), with the high spatial resolution of 2m.
,
21£

...
,,
w

o.

Figure 1. Study area - The Gulf of Chania NW Crete, Greece and the footprint of the worldview-2 satellite imageries used to
derive the shallow water depths.
2.2 Data preprocessing
A number of preprocessing steps were performed in the preparation of the multispectral and bathymetric data before
deriving water depths. Concerning the imageries, a varying degree of image corrections were applied in terms of the

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 adjacency effect (or nearby land areas), sea surface effects and atmospheric corrections using established methodologies
[9], [11], [12], [13], [14].
The radiometrically corrected image pixels were converted to top-of-atmosphere (TOA) radiance using the absolute
radiometric calibration factor and the effective bandwidth for each band, supplied by Digital Globe in the image
metadata file [10]. In order to eliminate all non-aquatic objects, a "water mask" was created by the application of the
water index proposed specifically for the WorldView-2 satellite (WV-WI) and uses the first channel -Coastal Blue band
and the eighth-NIR 2 [15]. The mathematical equation of the index is as follow:

WV-WI =
( Coastal − NIR 2 ) (1)
( Coastal + NIR 2 )
The land/water threshold value of 0.77766994 was obtained to separate the land from water through the process of
identifying region of interest - ROI.
Sun glint at the sea surface is a common problem in high resolution imagery over water and the removal of the effects is
a critical step of remote sensing imagery analysis for depth derivation. A variety of glint removal methods from high
resolution images has been developed [1], [13], [14], [16]. The deglinting methodology applied, which has been
proposed by Hedley et al 2005 [13], is based on the exploitation of the linear relationships between the NIR and the
visible bands by using samples of image pixels displaying a range of sun glint. Therefore, image samples were carefully
selected and for each visible band all the selected pixels were included in a linear regression of NIR brightness (x-axis)
against the visible band brightness (y-axis). All the image pixels were deglinted according to the following equation:

R΄i = Ri − bi ( RNIR − min NIR ) (2)

where R´i is the deglinted pixel in band i, Ri is the reflectance from visible band i, bi is the regression slope, RNIR is the
NIR band value and the minNIR the minimum NIR value of the sample. The combinations of the NIR band (two bands)
and the visible ones (six bands) that demonstrate strong relationship (Table1), are involved in the linear regression
models, were B2, B3 and B5 with NIR1, and B1, B4 and B6 with the NIR2 [12].
Table 1. The linear regressions' results - values of bi and R2 - between the combinations of visible and NIR bands.

NIR1 NIR2
Band 2 Band 3 Band 5 Band 1 Band 4 Band 6
Slope bi 0.2491 0.1452 0.5570 0.5569 0.2182 0.6816
R2 0.8602 0.9181 0.8002 0.8505 0.8889 0.9288

The atmospheric correction through the subtraction of the dark pixel value followed the sun glint correction. In the
method of dark pixel subtraction the value of an object with an expected zero reflectance such as pixels of deep water, is
subtracted from all pixels to remove the effect of atmospheric scattering. Deep water absorbs the radiation and therefore
the values of the corresponding pixels must be zero. However, the radiation values in these pixels are increased by an
amount which is different for each band [17]. These amounts are usually estimated either as the mean of the pixel values
corresponding to deep waters [1], or as the value of the histogram's cutoff point at the lower end [18]. The last, referred
to as the histogram method, was applied. The histogram of every band was examined and a cut-off at its lower end was
spotted. The value corresponding to this cut-off was considered as the dark pixel value. All the image pixels were
corrected according to the following equation:

Rac ,i = Ri − Rdp ,i (3)

where Rac,i is the atmospherically corrected pixel value in band i, Ri is the pixel value in band i and Rdp,i the dark pixel
value (histogram cut-off lower end) for the band i. Finally before the implementation of the bathymetric models the
natural logarithm of the corrected pixel values was calculated. The natural logarithm transformation produces a linear
relationship between water depth and deepwater-corrected radiances of spectral bands.

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 3. DEPTH ESTIMATION
There are several algorithm models developed to derive bathymetry data from satellite images. In order to estimate
water column depth and determine the limits of multispectral bathymetric algorithms, this study adopted the two most
popular and successful approaches for bathymetry retrieval, which were proposed by Lyzenga [4], [5], [1], [19] and
Stumpf et al [2]. Both models are based on the establishment of a statistical relationship between image pixel values and
field measured depth values. In order to define these relationships, a set of 250 control points with known depth values
were randomly selected for each one of the two imageries.
3.1 Lyzenga model (Linear Band Model )
Lyzenga [4], [5], [1] proposed bathymetry algorithms for both a single wavelength band and a pair of wavelength bands.
The single wavelength band algorithm is based on the assumption of invariant bottom type (reflectance) in the scene. The
algorithm for a pair of wavelength bands is a multiple log-linear regression model applicable to the scene in which the
bottom type (reflectance) is variable. Lyzenga [19] proved that the n-band model, (eq. 4) although derived under the
assumption that the water optical properties are uniform, gives depths that are not influenced by variations in water
properties or bottom reflectance, which means that more available bands provide better estimation. The algorithm for this
log-linear model is as the equation 4.
n
D = α 0 + ∑ α i ln Li (4)
i =1

where D is the estimated depth, n is the number of spectral bands, Li is the radiance after sun glint and atmospheric
correction and α0, αi are constants defining a linear relationship between Li and depth.
The above equation actually represents a multiple linear regression between depths and the radiance of the visible bands
which means that in order to define the constants, the coefficients of regression and model solving, known depths from
field measurements are required. The linear model was implemented over the total study area which is considered to
perform satisfactory results in areas with clear waters and relatively homogeneous seabed. The bands used were 1, 2, 3, 4
and 5. Band 6, NIR1 and NIR2 were excluded as their spectral information is generally considered insignificant for
bathymetry applications [20]. The spectral radiance values from satellite images for the positions with known depths
were extracted and a stepwise multiple regression was performed. After sequential statistical tests and the removal of
leverages the final valid models of 187 and 199 for the each one of the two scenes (the western and the eastern
respectively) were defined (eq. 5 and 6). The statistical parameters that imply the validation and the optimization of the
models and the derived bathymetry are given in Table 2 and Figure 2 respectively.

D = −13.294 − 10.836 B2 + 15.973B3 − 1.319 B4 − 1.880 B5 (5)

and D = −27.211 − 8.333B2 + 18.763B3 − 4.274 B5 (6)

Table 2. The statistical parameters that imply the validation and the optimization of the models of the equation 5 and 6.
Model R R2 Adjusted R2 Std. Error of the Estimate DW
5 0.980 0.960 0.959 1.262912 1.816
6 0.988 0.976 0.976 0.805007 2.308

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 Depth (m)
Depth (m)

0 1 2 3
1_1iiiiiiiiiiiiiiiiiiiiirr
4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 2 1 2 3 4 5
_!111111111111111111111111
6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 2425

Figure 2. Derived depths by the application of the equations 5 and 6 for the image A- left and image B-right respectively.
3.2 Stumph model (Linear Ratio Model)
This model developed by Stumpf et al [2] apply the fundamental principle that every band has a different level of water
body’s absorption. The different level of absorption conceptually will generate the ratio between bands and this ratio will
consistently change simultaneously when the depth changes. The ratio model is expressed by the following equation:

ln ( nR 'i )
D = m1 − m0 (7)
ln ( nR ' j )
where D is the estimated depth, m1 is a tunable constant defining the slope of the relationship between the ratio and
depth, R'i and R'j are the bands i and j radiance of light reflected off the water surface, i, j are bands 1-4 (i≠j), m0 is the
offset for zero depth, n is a constant chosen to assure both that the logarithm will be positive under any condition and
that the ratio will produce a linear response with depth.
The above equation actually represents a linear regression between depths as dependent variable and the ratio (relative
depths) as independent variable. The ratio was applied for the pairs of CB-B, CB-G, CB-Y, B-G & B-Y bands and for n
= 1000. In order to define the constants, that means the coefficients of regression and model solving, known depths from
field measurements are also required. Thus, the two sets of 250 control points with known depth for each one of the
scenes, were used in order to define the value of the constants. The results of the linear regressions applied for each ratio
for both scenes are shown in Table 3.
Table 3. The linear regressions' results - values of bi and R2 - between the combinations of visible and NIR bands.

ratio R R2 Adjusted R2 Std. Error of the Estimate

B1B2 0.665 0.442 0.440 4.695
B1B3 0.968 0.937 0.937 1.581
Image A

B1B4 0.660 0.436 0.433 4.724

B2B3 0.975 0.950 0.950 1.405
B2B4 0.691 0.477 0.475 4.546
B1B2 0.516 0.266 0.263 4.429
B1B3 0.911 0.831 0.830 2.128
Image B

B1B4 0.553 0.305 0.302 4.309

B2B3 0.934 0.873 0.872 1.845
B2B4 0.416 0.173 0.170 4.700
The band ratios which shown a strong linear correlation with depth were B1B3 and B2B3. The model selected to
estimate the depth in relation to the band ratio for both imageries, was the B2B3 one, since it presents a higher
correlation as well as a smaller standard error for the estimation. Consequently the equations 8, 9 were used to derive
bathymetry (Figure 3) for the scenes A and B respectively.

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 ln (1000 R '2 )
D = −125.873 + 122.064 (8)
ln (1000 R '3 )

ln (1000 R '2 )
and D = −202.746 + 198.3726 (9)
ln (1000 R '3 )

Depth (m)
Depth (m)

a ........................ 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 2425
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 2425

Figure 3. Derived depths by the application of the equations 8 and 9 for the image A- left and image B-right respectively.

4. RESULTS
Both models' results were tested and evaluated by using a number of points of known depth. For each one of the two
imageries a set of 250 control points with known depth from the "pool" of the soundings were randomly selected. The
soundings which were used for the calibration of the models have been excluded from the "pool" when the random
sampling for the control ones were performed.
Lyzenga model of Image A. The left diagrams of Figure 4 concern depth derived from applying the Lyzenga method
(Eq. 4,5) to the satellite image A vs. depths from soundings. The diagram in the first row shows a strong relationship
between derived and observed depths (R2 = 0.952) for the control points. The depth estimation for these known depth
positions was considered satisfactory that lied inside the zone of confidence interval of the estimated individual values. A
number of 13 points, that is 5% , lies outside the zone, while the rest 236 which consist the 95% of the total lie inside it.
Even thought the absolute differences between known and estimated depths at these positions vary from 0.001m to 6m
with a mean value equal to 1.06m and a standard deviation of 0.9m, only for very few of them (13 points) which are in
the deeper part of the study area (20m - 25m), the differences are high (3-6m). For the 63% of the control points the
differences are lower than 1m, while the 40% of them are below 0.6m. Thus we could argue based on the statistical
analysis that the linear band model indicates a sufficient performance in the estimated zone of 0-20m depth.
Stumph model of Image A. The statistical analysis performed to evaluate the results of the ratio model (eq. 7, 8) gave
almost similar results with the band model (Figure 4 - right diagrams). A strong correlation between the estimated and
measured depths is performed (R2=0.942) with the linear regression line almost similar to 1:1 data fit. A number of 14
points lies outside the zone of confidence interval, of which the half of them are referred to points of known depth over
20m. A percent of 61% of the points, concerns differences lower than 1m while the differences below 0.6m consist the
36%. The MAE is 1.16 with a standard deviation of 1.05m.
Lyzenga model of Image B. The left diagrams of Figure 5 concern depth derived from applying the Lyzenga method (Eq.
4,6) to the satellite image B vs. depths from soundings. The diagram in the first row shows a strong relationship between
derived and observed depths (R2 = 0.914) for the control points. Even though the depth estimation for these known depth
positions was considered satisfactory as lied inside the zone of confidence interval of the estimated individual values
(only of 11 points, that is ~4% , lies outside the zone, while the rest 239 lie inside it), the regression model's line doesn't
fit, such as in image A matches almost similar with the 1:1 data fit. The absolute differences between known and
estimated depths also vary from 0.001m to 6m with a mean value equal to 1.18m and a standard deviation of 0.99m.
Similarly to the results of the Lyzenga model in image A only for very few points which are in the deeper part of the

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 study area (20m - 25m), the differences are high (3-6m). For the 55% of the control points the differences are lower than
1m, while the 38% of them are below 0.6m.
Estimated Depth Estimated Depth

30-

J?
20-

10- Observed
- Linear
Data fit 1:1
Observed
- Linear
y = 0.9523 x +0.7614 Data fit 1:1
R square = 0.952
Y R syuarex:0%941228

0 10 15 20 25 0 5 10 15 20 25

Measured Depth (m) Measured Depth (m)

40- 50-
Mean =1.06
Std. Dev. =0.944 Mean =1.16
Std. Dev. =1.048
N =247 N =247

40-
30

c 30-
N 41
7
Q 20 tT

LL LL
20

10

2 3 4 5 6
rfT1
3
,rH1m.rh.
4 5 6

Absolute Differences Absolute Differences

Estimated Depth (m)

mean
95% Confidence Interval
+1 96 SD
O
el 96 SD -

f 1 96 SD

1 96 SD

k -< Estimated Depth (m)

mean
95% Confidence interval

Measured Depth (m) Measured Depth (m)

Figure 4. The statistical evaluation of the Lyzenga and Stumpf models' results for the first image (image A). The left
diagrams concern the Lyzenga model results and the right diagrams the Stumpf model results. First row: The relationship
between the estimated and the measured depth values for 250 control points. Second row: the histogram of the frequencies
of the absolute differences between the estimated and the measured depths. Third row: the Bland-Altman plot showing the
differences between measured and estimated depths vs. measured depths and the 95% confidence interval limits.

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 Estimated Depth Estimated Depth

0 s 20
5 10 15 20
Measured Depth (m)
Measured Depth (m)

40- Mean =1.18 25-

Std. Dev. =0.999 Mean =1 43
N =250 Std. Dev. =0.932
N =237

30-

]+
U
N
v 20-
N

_.__ _._=
Fl
4.00
n , p
6.00
Absolute Differences
Absolute Differences

+1 96 SD

te

1 96 SD
Estimated Depth (te)
1 96 SD Estimated Depth (mf
95% Confidence interval mean
95% Confidence interval

0 00 'DOD is Do

Measured Depth (m) Measured Depth (m)

Figure 5. The statistical evaluation of the Lyzenga and Stumpf models' results for the first image (image B). The left
diagrams concern the Lyzenga model results and the right diagrams the Stumpf model results. First row: The relationship
between the estimated and the measured depth values for 250 control points. Second row: the histogram of the frequencies
of the absolute differences between the estimated and the measured depths. Third row: the Bland-Altman plot showing the
differences between measured and estimated depths vs. measured depths and the 95% confidence interval limits.
Stumph model of Image B The statistical analysis performed to evaluate the results of the ratio model (eq. 7, 9) is shown
in Figure 5 - right diagrams. The estimated and measured depths are linear correlated but with a lower R2 values that in
all the previous cases (R2=0.856). As it is shown by the histogram of the absolute differences frequencies. As it is shown
by the histogram of the absolute differences' frequencies, a percentage of 62% corresponds to differences higher than
1m, which indicates that the ratio model doesn't retrieve sufficiently the estimated zone of 0-20m depth in this scene.

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 5. DISCUSSION AND CONCLUSIONS
The linear bathymetric model also the ratio one were applied on the two images after the elimination of all nonaquatic
objects, the sun glint removal and the atmospheric correction. Both images were integrated with the available multi and
single beam echo sounding data for the calibration of the models as well as for the evaluation of the results. Both
algorithms were applied in the entire study area without taken into account the substrate type or various depth zones.
According to the outcomes of the evaluation analysis of the two models, the Lyzenga linear model was considered to
give more reliable results. This linear band model also provided better fit between the results of the two images, in
contrast of the ratio model, the results of which shown discontinuity between the two images.
The bathymetric map which was created for the entire study area, as well as the map which is shown the absolute
differences (MAE) between the satellite derived bathymetry and the DEM from soundings, are shown in Figure 6 and 7
respectively. The higher values of MAE are located in the areas where rocky outcrops area located and in a very narrow
strip across the coastline. For the major part of the entire area which is dominated by sandy substrate the mean absolute
differences ranges in values lower than 0.6m. Doxani et al [20] discovered that the bottom type such as the presence of
sea grass affects the linear relationship between ground truth depths and spectral radiance values negatively. Mishra et al
[21] explains that depth estimations may fail in heterogeneous bottom substrates with significant difference in albedos.
Dark bottom absorbs more light and will therefore appear deeper than its surrounding bright bottom less absorption
capacity. According to this we can assume that the rocky outcrops in our case affects negatively both the linear band and
linear ratio relationship between the measured and the estimated depths. However the use of satellite-derived depths
provides an effective, rapid and almost safe approach for mapping the shallow-water zone of 0-20m.

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0 1.0 2.0 3.0 4.0

..............I
5.0 6.0 7.0 8.0 9.0 10.0 11.0 12.0 13.0 14.0 15.0 16.0 17.0 18.0

Figure 6. The bathymetric map derived by satellite image processing using Lyzenga linear band model.

Figure 7. The absolute differences between the satellite derived bathymetry and the DEM from soundings.

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