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RESEARCH PAPERS

Three-Dimensional Map Generation From Side-Scan Sonar Images

[+] Author and Article Information
J. M. Cuschieri

Department of Ocean Engineering, Florida Atlantic University, Boca Raton, FL 33431

M. Hebert

Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213

J. Energy Resour. Technol 112(2), 96-102 (Jun 01, 1990) (7 pages) doi:10.1115/1.2905729 History: Received November 01, 1987; Revised October 06, 1989; Online April 16, 2008

Abstract

The generation of three-dimensional (3-D) images and map building are essential components in the development of an autonomous underwater system. Although the direct generation of 3-D images is more efficient than the recovery of 3-D data from 2-D information, at present for underwater applications where sonar is the main form of remote sensing, the generation of 3-D images can only be achieved by either complex sonar systems or with systems which have a rather low resolution. In this paper an overview is presented on the type of sonar systems that are available for underwater remote sensing, and then a technique is presented which demonstrates how through simple geometric reasoning procedures, 3-D information can be recovered from side scan-type (2-D) data. Also presented is the procedure to perform map building on the estimated 3-D data.

Copyright © 1990 by The American Society of Mechanical Engineers
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