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Flat Surface Reconstruction Using Sonar
1998
The international journal of robotics research
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A technique is given for the recovery of planar surfaces using two beam-spread sonar readings. ...
Abstract A technique is given for the recovery of planar surfaces using two beam-spread sonar readings. ...
Introduction Sonar sensors in common use today (e.g., the Polaroid sensor) produce with reasonable accuracy the range to the nearest surface, but the direction to that surface is not explicitly determined ...
doi:10.1177/027836499801700503
fatcat:547bcbsrebb3vmy7nlf2hzyvw4
Application of Shape From Shading Technique for Side Scan Sonar Images
2013
Polish Maritime Research
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Through many years side scan sonars were one of the most widely used imaging systems in the underwater environment. ...
Applying it to side scan sonar data is challenging idea used by several authors. In the paper, some further extensions are presented. ...
procedure, has been derived experimentally by choosing flat surface area for this purpose. ...
doi:10.2478/pomr-2013-0033
fatcat:zcixnts4l5fkpjpmufzeawwa7m
Deep-sea AUV navigation using side-scan sonar images and SLAM
2010
OCEANS'10 IEEE SYDNEY
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Sonic waves suffer much less from these problems and therefore sonar sensors are the prevalent sensor type used under water. ...
An overview of existing approaches to underwater SLAM using sonar data is given in this paper. A short outlook to the system that will be used in the TIETeK project is also presented. ...
Furthermore, the fusion concept will be modularly expandable by incorporation of gated viewing solutions or multi-beam sonars. ...
doi:10.1109/oceanssyd.2010.5603528
fatcat:6y4ubkr3v5cyjbht5xofeh4sae
Computer Vision Techniques Applied for Reconstruction of Seafloor 3D Images from Side Scan and Synthetic Aperture Sonars Data
2008
Journal of the Acoustical Society of America
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Several techniques of 3D geometry reconstruction for seabed surface or submerged objects using side-scan sonar images has been reported [3, 4] . ...
At the time instant t i , the seafloor surface S i is insonified, the area of which may be for a flat bottom case expressed by the classical equation: V -the along tract transducer beamwidth, R i -the ...
doi:10.1121/1.2935303
fatcat:gzlhvfv5lfhnvmtupnbc3trsey
Towards Differentiable Rendering for Sidescan Sonar Imagery
[article]
2022
arXiv
pre-print
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We further demonstrate its ability to solve the inverse problem of directly reconstructing a 3D seafloor mesh from only 2D sidescan sonar data. ...
In this work, we propose a differentiable renderer for sidescan sonar imagery. ...
(b) Before optimizing to reconstruct the shape of the seafloor, we normally use flat seafloor assumption for initialization. ...
arXiv:2206.07821v1
fatcat:hifxq46rf5bhthkypmdxueouou
Simulation and 3D Reconstruction of Side-Looking Sonar Images
[chapter]
2009
Advances in Sonar Technology
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is mostly flat. ...
(a) Reflectivity map, (b) projection of the sonar's beam-profile, (c) textured 3D surface reconstruction using the recovered elevation map. ...
Simulation and 3D Reconstruction of Side-Looking Sonar Images, Advances in Sonar Technology, Sergio Rui Silva (Ed.), ISBN: 978-3-902613-48-6, InTech, Available from: http://www.intechopen.com/books/advances_in_sonar_technology ...
doi:10.5772/39406
fatcat:4isdwedkrjhi5k5idescvijx5e
Multiresolution 3-D Reconstruction From Side-Scan Sonar Images
2007
IEEE Transactions on Image Processing
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Reconstruction results for images acquired by different sonar sensors are presented. Applications to augmented reality for the simulation of targets in sonar imagery are also discussed. ...
In this paper, a new method for the estimation of seabed elevation maps from side-scan sonar images is presented. ...
ACKNOWLEDGMENT The authors would like to thank the NATO Undersea Research Centre (NURC) and the Autotracker Project partners for providing the source datasets used in this paper. ...
doi:10.1109/tip.2006.888337
pmid:17269632
fatcat:xzae2zml45b3fdon3gmuijbz4m
Seafloor Map Generation for Autonomous Underwater Vehicle Navigation
[chapter]
1996
Underwater Robots
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using vehicle attitude and performing the reconstruction again. ...
Given the trajectory for the underwater vehicle, the reconstruction is corrected for the attitude of the side-scan sonar during the image generation process. ...
flat homogeneous surface. ...
doi:10.1007/978-1-4613-1419-6_4
fatcat:k2oj6vhyhvhcragaextn6xqpva
Modeling Surface Multipath Effects in Synthetic Aperture Sonar
2009
IEEE Journal of Oceanic Engineering
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Two sea-surface scattering mechanisms are used in the simulations described in this paper. ...
The line-of-sight signal from a nonmoving object adds coherently from ping to ping in the image reconstruction process while any random multipath reflections or backscatter from the sea surface may add ...
By using synthetic aperture sonar (SAS) techniques, the random nature of the sea-surface multipath returns can be exploited. ...
doi:10.1109/joe.2009.2017796
fatcat:ug5wdbkolnhzlfuxbyhkvtvd4m
Dynamics of Sediments in Reservoir Inflows: A Case Study of the Skalka and Nechranice Reservoirs, Czech Republic
2020
ISPRS International Journal of Geo-Information
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Bathymetric surveying of a reservoir bottom is presently routine, but in this study, we used a wide combination of bathymetric mapping methods (sonar, ground penetration radar, and sub-bottom profiler) ...
A wide variety of geographic information system tools and methods was used for pre-dam topography reconstruction and reservoir bottom surveying in two dam reservoirs in the Ohře River, Czech Republic. ...
Appendix A The datasets used for the analyses are available as: Pacina, Jan; Štojdl, Jiří; Lend'áková, Zuzana; Matys Grygar, Tomáš; Dolejš, Martin (2020), "Data for: Dynamics of sediments in reservoir ...
doi:10.3390/ijgi9040258
doaj:28624c04d3e64747b0290bdf0e70157a
fatcat:x3vqifwl7nczxjopeqffyc7hoy
Simulation of multiple-receiver, broadband interferometric SAS imagery
2003
Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492)
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Interferometric Synthetic Aperture Sonar (InSAS) is a technique for high-resolution, 3-dimensional underwater imaging. ...
A significant problem in developing and testing InSAS algorithms is the difficulty in obtaining ground-truth data to compare with the reconstructed imagery / bathymetry. ...
Fig. 4 . 4 Simulated imagery of a 1m diameter sphere on a flat sea-floor: For the top receiver in the interferometric array, (a) shows the pulsecompressed imagery and (b) shows the synthetic aperture reconstruction ...
doi:10.1109/oceans.2003.178322
fatcat:idsh5tijdrao3maarvruvaak2u
Autonomous Robot Navigation Using Flatness-based Control and Multi-Sensor Fusion
[chapter]
2008
Robotics Automation and Control
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The distance measure of sonar i from a neighboring surface j P is thus taken into account (see Fig. 2 (a) and Fig. 2(b) ). ...
Next, flatness-based control generates the control signal using the state vector which is reconstructed after the fusion of measurements from distributed sensors. ...
doi:10.5772/5839
fatcat:yphjtt7t7fachkelhmmrdcy3eu
Acousto‐optic tomography for mapping of high‐frequency sonar fields
2008
Journal of the Acoustical Society of America
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Acoustics 08 Paris frequency sonar array transducers. ...
using the techniques commonly used in X-ray Computed Tomography. ...
This paper describes a method based on the acousto-optic effect which is used to reconstruct the field generated by a high-frequency (480 kHz) sonar array transducer using a tomographic reconstruction ...
doi:10.1121/1.2934227
fatcat:jdjcif3lujemnbt7pqpsjyx27e
Marine Robots Mapping the Present and the Past: Unraveling the Secrets of the Deep
2020
Remote Sensing
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side-scan sonar mosaics, bathymetric models or reconstructed photogrammetric models. ...
It includes the integration of multibeam sonar, side scan sonar and various cameras into autonomous surface and underwater vehicles, remotely operated vehicle and unmanned aerial vehicle. ...
Since Qimera, which was used as surface reconstruction software from bathymetric data, reconstructs a 2.5D surface and pairs each (x, y) ordered pair in the horizontal plane to only one height z value, ...
doi:10.3390/rs12233902
fatcat:2ropt4kfj5bdtmu5cv7ua573ii
Mapping 3D Underwater Environments with Smoothed Submaps
[chapter]
2015
Springer Tracts in Advanced Robotics
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Autonomous underwater vehicles (AUVs) are becoming valuable tools for inspection of underwater infrastructure, and can create 3D maps of their environment using high-frequency profiling sonar. ...
We present real-world results using the Bluefin Hovering AUV, as well as analysis of a synthetic data set. ...
Even in an ideal environment, measuring a hard, flat surface in a low-noise swimming pool, we observe that the return is generally "smeared" along several bins. ...
doi:10.1007/978-3-319-07488-7_2
fatcat:e54y4p6hdbgc7m53xep4dhz6du
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