3D Reconstruction Using Two Sonar Devices in a Monte-Carlo Approach for AUV Application

We propose a sequential method to extract 3-dimensional information for mapping by using sensor fusion of two sonar devices. The 3D reconstruction using sonar images from forward-looking multibeam sonar (FLMS) is an ill-posed problem due to the loss of elevation angle; thus we used an additional son...

Full description

Saved in:
Bibliographic Details
Published in:International journal of control, automation, and systems 2020, Automation, and Systems, 18(3), , pp.587-596
Main Authors: Joe, Hangil, Kim, Jason, Yu, Son-Cheol
Format: Article
Language:English
Subjects:
Beams (radiation)
Computer simulation
Control
Devices
Elevation angle
Engineering
Geometric constraints
Ill posed problems
Image reconstruction
Mapping
Mechatronics
Monte Carlo simulation
Robot and Applications
Robotics
Sonar
제어계측공학
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:We propose a sequential method to extract 3-dimensional information for mapping by using sensor fusion of two sonar devices. The 3D reconstruction using sonar images from forward-looking multibeam sonar (FLMS) is an ill-posed problem due to the loss of elevation angle; thus we used an additional sonar and its complementary information. Our approach is to utilize geometric constraints between the installation of two sonar devices and complementary characteristics such as a different angle of the acoustic beams and data acquisition method. The fusion process proceeds in three stages. The first stage is to build a likelihood map using geometric constraints of the installation between two sonar devices. The second stage is to calculate the feasible elevation angle of the FLMS. The elevation angle of FLMS is limited by its vertical beam spreading angle, which can be represented by particles. The third stage is Monte-Carlo experiment using the generated particles by computing the weight, and correct the data of FLMS. To verify the proposed method, we applied the proposed method in simulations and experiments in engineering basin with an AUV.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-019-0692-2