Carnegie Mellon University
Building Elevation Maps from Underwater Sonar Data

Dirk Langer and Martial Hebert

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Deriving a terrain model from sensor data is an important task for the autonomous navigation of a mobile robot. This paper describes an approach for autonomous underwater vehicles using a side scan sonar system. First. some general aspects of the type of data and filtering techniques to improve it are discussed. We then proceed to derive an estimated bottom contour, using a geometric reflection model and information about shadows and highlights. Several techniques of surface reconstruction and their limitations are presented.

Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Associated Project(s): Sonar Mapping for Underwater Vehicles
Number of pages: 7

Text Reference
Dirk Langer and Martial Hebert , "Building Elevation Maps from Underwater Sonar Data," 1994.

BibTeX Reference
   author = "Dirk Langer and Martial {Hebert }",
   title = "Building Elevation Maps from Underwater Sonar Data",
   booktitle = "",
   year = "1994",