Deriving a terrain model from sensor data is an important task for the autonomous navigation of a mobile robot. An approach is presented for autonomous underwater vehicles using a side scan sonar system. Some general aspects of the type of data and filtering techniques to improve it are discussed. An estimated bottom contour is derived using a geometric reflection model and information about shadows and highlights. Several techniques of surface reconstruction and their limitations are presented. A method is presented for feature extraction which is important for future data matching/fusion procedures.


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    Titel :

    Building qualitative elevation maps from side scan sonar data for autonomous underwater navigation


    Weitere Titelangaben:

    Berechnung qualitativer Höhenkarten aus seitlich abgetasteten Sonardaten für die autonome Unterwassernavigation


    Beteiligte:
    Langer, D. (Autor:in) / Hebert, M. (Autor:in)


    Erscheinungsdatum :

    1991


    Format / Umfang :

    6 Seiten, 12 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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