Abstract
This paper proposes a practical 3D object reconstruction method using an underwater imaging sonar. In order to reconstruct the 3D object, three methods are utilized. Firstly, the vertical beam-angle of imaging sonar is modified to narrow angle to reduce an uncertainty of estimated 3D position. The wide vertical beam-angle makes the incorrect estimation result about the 3D position of the reconstructed object. Secondly, simple noise filtering and range detection methods are designed to extract a distance from the sonar image. Lastly, a low pass filter is adopted to estimate a probability of voxel occupancy. To demonstrate the proposed methods, 3D reconstruction for three sample objects was performed in a basin and results are explained.
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Acknowledgement
This work has been done by “Development of basic SLAM technologies for autonomous underwater robot and software environment for MOOS-IvP.” funded by KRISO, and “Development of an autonomous swimming technology with less than 1.0 m position error for underwater robot operating in man-made structural environment” funded by Ministry of Trade, Industry & Energy (MOTIE).
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Lee, Y., Kim, T., Choi, J., Jung, J., Choi, HT. (2017). Preliminary Result on Underwater 3-Dimensional Reconstruction Using Imaging Sonar. In: Duy, V., Dao, T., Kim, S., Tien, N., Zelinka, I. (eds) AETA 2016: Recent Advances in Electrical Engineering and Related Sciences. AETA 2016. Lecture Notes in Electrical Engineering, vol 415. Springer, Cham. https://doi.org/10.1007/978-3-319-50904-4_25
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DOI: https://doi.org/10.1007/978-3-319-50904-4_25
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