3D reconstruction of underwater objects using a wide-beam imaging sonar

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A volumetric representation of three-dimensional (3D) space is important for underwater navigation and mapping. In this study, a systematic 3D reconstruction scheme using a wide-beam imaging sonar is proposed. For efficient 3D reconstruction, an occupancy grid map with an octree structure is employed and a sensor model considering the sensing characteristics of the imaging sonar is introduced. In order to investigate the feasibility of the proposed reconstruction approach, an experiment has been carried out in a water tank.
Publisher
Institute of Electrical and Electronics Engineers Inc.
Issue Date
2017-02-22
Language
English
Citation

2017 IEEE OES International Symposium on Underwater Technology, UT 2017

DOI
10.1109/UT.2017.7890306
URI
http://hdl.handle.net/10203/237139
Appears in Collection
ME-Conference Papers(학술회의논문)
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