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.
Building qualitative elevation maps from side scan sonar data for autonomous underwater navigation
Berechnung qualitativer Höhenkarten aus seitlich abgetasteten Sonardaten für die autonome Unterwassernavigation
1991
6 Seiten, 12 Quellen
Aufsatz (Konferenz)
Englisch
Autonomous interpretation of side scan sonar returns
Tema Archiv | 1990
|Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar
DSpace@MIT | 2011
|Navigation using 3D features from side-scan sonar data for a deep-sea AUV
Fraunhofer Publica | 2012
|On slam-based vehicle navigation with side-scan sonar data for an AUV
Fraunhofer Publica | 2012
|Deep-sea AUV navigation using side-scan sonar images and SLAM
DataCite | 2010
|