Implements sophisticated data registration, association, and fusion algorithms.  Tested using simulated data, real-world AQS-20X data, real-world SQS-53 Mid-Frequency Active/Small Object Avoidance (MFA/SOA) data, and real-world Precision Underwater Mapping (PUMA) data.  Analysis showed robust and effective performance on all test data sets.  Successful IV&V by NSWC PCD.  Integrated into data registration, association, and fusion testbed and demonstration system.