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Proceedings Paper

Sonar data fusion for 3D scene reconstruction
Author(s): John J. Leonard; Bradley A. Moran
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Paper Abstract

This paper describes a geometric approach to underwater 3-D scene reconstruction using sonar range sensing. Our goal is to recover explicit geometric surface descriptions for man-made objects, by focusing the geometric constraints of multiple sonar returns obtained from different sensing locations by a moving autonomous underwater vehicle (AUV). We employ a simplified physical model of the sonar sensing process, based on the geometrical acoustics high-frequency approximation of acoustic scattering. Our current research effort is directed to support the task of locating and retrieving rigid objects from the deep ocean seafloor, using an untethered AUV. The key open problems concern the development of (1) robust methods for 3-D shape recovery, (2) an effective data association procedure, and (3) directed sensing strategies to control the data acquisition process.

Paper Details

Date Published: 1 November 1992
PDF: 12 pages
Proc. SPIE 1828, Sensor Fusion V, (1 November 1992); doi: 10.1117/12.131646
Show Author Affiliations
John J. Leonard, Massachusetts Institute of Technology (United States)
Bradley A. Moran, Massachusetts Institute of Technology (United States)

Published in SPIE Proceedings Vol. 1828:
Sensor Fusion V
Paul S. Schenker, Editor(s)

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