Sonar data fusion for 3D scene reconstruction

John J. Leonard; Bradley A. Moran

doi:10.1117/12.131646

1 November 1992 Sonar data fusion for 3D scene reconstruction

John J. Leonard, Bradley A. Moran

Proceedings Volume 1828, Sensor Fusion V; (1992) https://doi.org/10.1117/12.131646
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

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.

Citation Download Citation

John J. Leonard and Bradley A. Moran "Sonar data fusion for 3D scene reconstruction", Proc. SPIE 1828, Sensor Fusion V, (1 November 1992); https://doi.org/10.1117/12.131646

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available