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Three-dimensional reconstruction of underwater objects using wide-aperture imaging SONAR

Thomas Guerneve, Kartic Subr, Yvan Petillot
2018 Journal of Field Robotics  
for the ill-posed problem of 3D reconstruction from wide-aperture sonar images.  ...  In this paper, we propose simple algorithms to obtain 3D reconstructions from wide-aperture sonar with errors comparable to reconstructions using pencil-beam sonar.  ... 
doi:10.1002/rob.21783 fatcat:ohg2qsj2rjbkziasugnyedlo2u

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  
Side scan and synthetic aperture sonars are one of the most widely used imaging systems in underwater environment.  ...  Sample seafloor image obtained from synthetic aperture sonar data Fig. 10 . 10 Bottom relief reconstruction results a) for whole synthetic aperture sonar image b) magnified image of selected area c)  ... 
doi:10.1121/1.2935303 fatcat:gzlhvfv5lfhnvmtupnbc3trsey

Predictive 3D Sonar Mapping of Underwater Environments via Object-specific Bayesian Inference [article]

John McConnell, Brendan Englot
2021 arXiv   pre-print
Recent work has achieved dense 3D reconstruction with wide-aperture imaging sonar using a stereo pair of orthogonally oriented sonars.  ...  Our work aims to achieve large-scale 3D reconstruction more efficiently using this sensor arrangement.  ...  and wide aperture imaging sonars.  ... 
arXiv:2104.03203v1 fatcat:ix74dw53vjhcti6j3rk742kzri

Fusing Concurrent Orthogonal Wide-aperture Sonar Images for Dense Underwater 3D Reconstruction [article]

John McConnell, John D. Martin, Brendan Englot
2020 arXiv   pre-print
We propose a novel approach to handling the ambiguity in elevation angle associated with the observations of a forward looking multi-beam imaging sonar, and the challenges it poses for performing an accurate  ...  Using these concurrent observations, we can create a dense, fully defined point cloud at every time-step to aid in reconstructing the 3D geometry of underwater scenes.  ...  The outcome is the ability to perform dense 3D reconstruction using wide-aperture multi-beam imaging sonar, while making no restrictive assumptions about the scenes in view.  ... 
arXiv:2007.10407v1 fatcat:3fgpgkcttfaphliywpsukxlweq

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.  ...  Although they are relatively cheap and easy to deploy, more powerful sensors like multibeam echo sounders and sonars are widely used today and deliver 3D bathymetry of sea bottom terrain.  ...  Side scan sonar (SSS) is one of the most widely used imaging systems in underwater environment.  ... 
doi:10.2478/pomr-2013-0033 fatcat:zcixnts4l5fkpjpmufzeawwa7m

Using A Faceted Rough Surface Environmental Model to Simulate Shallow-Water Sas Imagery [chapter]

A. J. Hunter, M. P. Hayes, P. T. Gough
2002 Impact of Littoral Environmental Variability of Acoustic Predictions and Sonar Performance  
Synthetic Aperture Sonar (SAS) is an extension of the conventional side-looking sonar technique for higher resolution underwater imaging.  ...  In SAS, as with conventional sonar, it is often difficult to obtain ground-truth data to compare with the reconstructed imagery.  ...  Synthetic aperture reconstructed image for scene shown inFig. 2. © 2002 Kluwer Academic Publishers. Printed in the Netherlands.  ... 
doi:10.1007/978-94-010-0626-2_60 fatcat:ungsy74rbfcvlgdqpnfb35qpcm

An algebraic approach to synthetic aperture sonar image reconstruction

Sergio Rui Silva, Sergio Cunha, Anibal Matos, Nuno Cruz
2008 OCEANS 2008  
A new approach for synthetic aperture image formation is presented in this paper. With the presented method image formation is regarded as a signal arrangement that can be described by a matrix.  ...  This method is illustrated with real data obtained in test mission in the Douro River, Portugal by a synthetic aperture sonar developed at the University of Porto.  ...  SYNTHETIC APERTURE SONAR SYSTEM MODEL This algorithm was developed for synthetic aperture sonar mounted in a boat but is not in any way restricted to be used in other carriers.  ... 
doi:10.1109/oceans.2008.5151974 fatcat:egfgjwa3fne7nbzselxugvjuhm

Radar and Sonar Imaging and Processing (2nd Edition)

Andrzej Stateczny, Witold Kazimierski, Krzysztof Kulpa
2021 Remote Sensing  
The sequence of articles included in the SI deal with a broad profile of aspects of the use of radar and sonar images in line with the latest scientific trends, in which the latest developments in science  ...  The 14 papers (from 29 submitted) published in the Special Issue "Radar and Sonar Imaging Processing (2nd Edition)" highlight a variety of topics related to remote sensing with radar and sonar sensors.  ...  First, according to the idea of image domain reconstruction, the sub-images are generated by employing the back-projection algorithm.  ... 
doi:10.3390/rs13224656 fatcat:qvxifyoi6fev3ejsbz5hkrcv7a

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.  ...  Thus, a reliable simulation model is a useful aid. Most SAS simulation models are based on a point-scatterer representation of the underwater scene.  ...  INTRODUCTION Synthetic Aperture Sonar (SAS) is an extension of the conventional side-looking sonar technique for higher resolution underwater imaging [1] .  ... 
doi:10.1109/oceans.2003.178322 fatcat:idsh5tijdrao3maarvruvaak2u

Three-Dimensional Imaging of Vehicles from Sparse Apertures in Urban Environment [chapter]

Emre Ertin
2014 Compressive Sensing for Urban Radar  
In the following, we first review the system model for wide-angle SAR collections and discuss shortcomings of the traditional Fourier imaging methods when applied to sparse circular synthetic aperture  ...  One possibility is to use generalized likelihood ratio test (GLRT) imaging proposed by Moses and Potter [15] .  ... 
doi:10.1201/b17252-12 fatcat:pupqxwxvy5a5xmg5opwzahokme

Ocean, platform, and signal processing effects on synthetic aperture sonar performance

Kenneth D. Rolt
1991 Journal of the Acoustical Society of America  
By the use of the model, the three dominant influences of ocean, platform, and signal processing may be studied on the performance of synthetic aperture sonar imaging.  ...  A computer-based model has been created to evaluate the imaging potential of a synthetic aperture sonar system within a horizontally stratified ocean.  ...  This sonar would be, by itself, a poor imaging sonar because the mainlobe is too wide for useful imaging.  ... 
doi:10.1121/1.400746 fatcat:6357pltnarepbobpsu4b3ter6a

Radar and Sonar Imaging and Processing

Andrzej Stateczny, Witold Kazimierski, Krzysztof Kulpa
2020 Remote Sensing  
The sequence of articles included in the SI dealt with a broad profile of aspects of the use of radar and sonar images in line with the latest scientific trends.  ...  The 21 papers (from 61 submitted) published in the Special Issue "Radar and Sonar Imaging Processing" highlighted a variety of topics related to remote sensing with radar and sonar sensors.  ...  The generalized surgical scaling algorithm (GCSA) is widely accepted as an attractive solution to focus low frequency, high bandwidth, and wide beam SAR systems.  ... 
doi:10.3390/rs12111811 fatcat:qx757t5txjhoxpqesevkg46peq

Synthetic Aperture Techniques for Sonar Systems [chapter]

Srgio Rui, Srgio Cunha, Anbal Matos, Nuno Cruz
2009 Advances in Sonar Technology  
The image reconstruction task can, as a result, be done by multiplication of the frequency domain inverse sonar imaging model.  ...  The navigation information and system geometry is used to build the image formation matrix leading to the reconstructed image.  ... 
doi:10.5772/39407 fatcat:cpvz5qu73nhutelhowvp52rcuq

Underwater 3D structures as semantic landmarks in SONAR mapping

Thomas Guerneve, Kartic Subr, Yvan Petillot
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
The input to the algorithm consists of SONAR images acquired by an Autonomous Underwater Vehicle (AUV) and a catalogue of 'guessed' 3D CAD models of structures that may potentially be found in the data  ...  The semantic world model can finally be generated at the desired resolution making it useful for both offline and online usual processing such as mission planning, data analysis, manipulation or vehicle  ...  using standard imaging SONARs.  ... 
doi:10.1109/iros.2017.8202215 dblp:conf/iros/GuerneveSP17 fatcat:jz6nfxk6pvgxzmf3ftwe6r5tu4

Stripmap phase gradient autofocus

H.J. Callow, M.P. Hayes, P.T. Gough
2003 Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492)  
Strip-map PGA (SPGA) works by employing the (image domain) 2D phase correction technique. Using the scale transform of the imaging system, the 2D phase errors are related to aperture position errors.  ...  PGA was developed for tomographic mode spotlight synthetic aperture radar (SAR) but has limited applicability for side-scan synthetic aperture operation.  ...  In spotlight operation, the sonar beam is focused on the region of interest whereas the more general strip-map configuration images different portions of the scene as viewed from the sonar.  ... 
doi:10.1109/oceans.2003.178291 fatcat:erd66ydscjhxhj27b22faxlsxq
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