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Carnegie Mellon Robotics Institute

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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 idormation, 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 recoved from side scan-type (2-D) data. Also presented is the procedure to perform map building on the estimated 3-D data.

Notes

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

Associated Project(s): Sonar Mapping for Underwater Vehicles

Text Reference

J.M. Cuschieri and Martial Hebert, "Three-Dimensional Map Generation From Side-Scan Sonar Images," Journal of Energy Resources Technology, Vol. 112, June, 1990

BibTeX Reference

@article{Hebert_1990_4274,
   author = "J.M. Cuschieri and Martial Hebert",
   title = "Three-Dimensional Map Generation From Side-Scan Sonar Images",
   journal = "Journal of Energy Resources Technology",
   month = "June",
   year = "1990",
   volume = "112",
}

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