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Abstract

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. We also describe a method of feature extraction which is important for future data matching/fusion procedures.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Project(s): Sonar Mapping for Underwater Vehicles

Text Reference

Dirk Langer and Martial Hebert, "Building Qualitative Elevation Maps from Side Scan Sonar Data for Autonomous Underwater Navigation," Proceedings of the 1991 IEEE International Conference on Robotics and Automation (ICRA '91), April, 1991.

BibTeX Reference

@inproceedings{Langer_1991_4255,
   author = "Dirk Langer and Martial Hebert",
   title = "Building Qualitative Elevation Maps from Side Scan Sonar Data for Autonomous Underwater Navigation",
   booktitle = "Proceedings of the 1991 IEEE International Conference on Robotics and Automation (ICRA '91)",
   month = "April",
   year = "1991",
}

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