利用宽波束成像声纳对水下物体进行三维重建

2017 IEEE Underwater Technology (UT) Pub Date : 2017-02-22 DOI:10.1109/UT.2017.7890306

Sungchur Kwon, Jisung Park, Jinwhan Kim

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引用次数: 7

摘要

三维空间的体表示对于水下导航和测绘非常重要。本文提出了一种基于宽波束成像声纳的系统三维重建方案。为了实现高效的三维重建，采用了八叉树结构的占用网格图，并引入了考虑成像声纳传感特性的传感器模型。为了验证所提出的重建方法的可行性，在水箱中进行了实验。

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

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.

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2017 IEEE Underwater Technology (UT)

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