/Building Elevation Maps from Underwater Sonar Data

Building Elevation Maps from Underwater Sonar Data

Dirk Langer and Martial Hebert
Miscellaneous, January, 1994

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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.

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