Calibration of optical camera coupled to acoustic multibeam for underwater 3D scene reconstruction

N. Hurtos, X. Cufi, J. Salvi
Combination of optical and acoustic sensors to overcome the shortcomings presented by optical systems in underwater 3D acquisition is an emerging field of research. In this work, an opti-acoustic system composed by a single camera and a multibeam sonar is proposed, providing a simulation environment to validate its potential use in 3D reconstruction. Since extrinsic calibration is a prerequisite for this kind of feature-level sensor fusion, an effective approach to address the calibration
more » ... e calibration problem between a multibeam and a camera system is presented.
doi:10.1109/oceanssyd.2010.5603907 fatcat:kpnqak3h5baodlibzttxyxi42q