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Flat Surface Reconstruction Using Sonar

Thomas C. Henderson, Mohamed Dekhil, Larry Schenkat, Larkin Veigel, Beat Brüderlin
1998 The international journal of robotics research  
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

Krzysztof Bikonis, Marek Moszynski, Zbigniew Lubniewski
2013 Polish Maritime Research  
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

Philipp Woock, Christian Frey
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

Krzysztof Bikonis, Andrzej Stepnowski, Marek Moszynski
2008 Journal of the Acoustical Society of America  
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]

Yiping Xie, Nils Bore, John Folkesson
2022 arXiv   pre-print
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]

E. Coiras, J. Groe
2009 Advances in Sonar Technology  
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:  ... 
doi:10.5772/39406 fatcat:4isdwedkrjhi5k5idescvijx5e

Multiresolution 3-D Reconstruction From Side-Scan Sonar Images

Enrique Coiras, Yvan Petillot, David M. Lane
2007 IEEE Transactions on Image Processing  
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]

Andrew E. Johnson, Martial Hebert
1996 Underwater Robots  
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

Brynmor J. Davis, Peter T. Gough, Bobby R. Hunt
2009 IEEE Journal of Oceanic Engineering  
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

Jan Pacina, Zuzana Lenďáková, Jiří Štojdl, Tomáš Matys Grygar, Martin Dolejš
2020 ISPRS International Journal of Geo-Information  
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

A.J. Hunter, M.P. Hayes, P.T. Gough
2003 Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492)  
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]

Gerasimos G.
2008 Robotics Automation and Control  
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

Peter D. Theobald, Stephen P. Robinson, Gary Hayman, Triantafillos Koukoulas
2008 Journal of the Acoustical Society of America  
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

Nadir Kapetanović, Antonio Vasilijević, Đula Nađ, Krunoslav Zubčić, Nikola Mišković
2020 Remote Sensing  
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]

Mark VanMiddlesworth, Michael Kaess, Franz Hover, John J. Leonard
2015 Springer Tracts in Advanced Robotics  
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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