Processing tools for acoustic 3D images

Murino, Vittorio; Palmese, M.; Trucco, A.

doi:10.1007/978-3-540-28121-4_6

Cited by 1 publication

(1 citation statement)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…There has also been significant progress in 3D sensing and perception with sonar in the underwater domain in recent years (Murino and Trucco 2000;Lorenson and Kraus 2009). This includes multi-target tracking (Clark et al 2005), the modeling of hydrothermal plumes (Santilli et al 2004), the registration of sonar range views for scene reconstruction (Castellani et al 2002(Castellani et al , 2004, and object modeling and recognition (Palmese and Trucco 2008;Yu et al 2007;Murino et al 2007).…”

Section: Introductionmentioning

confidence: 99%

Spectral registration of noisy sonar data for underwater 3D mapping

Bülow

Birk

2011

Auton Robot

View full text Add to dashboard Cite

3D mapping is very challenging in the underwater domain, especially due to the lack of high resolution, low noise sensors. A new spectral registration method is presented that can determine the spatial 6 DOF transformation between pairs of very noisy 3D scans with only partial overlap. The approach is hence suited to cope with sonar as the predominant underwater sensor. The spectral registration method is based on Phase Only Matched Filtering (POMF) on non-trivially resampled spectra of the 3D data.Two extensive sets of experiments are presented. First, evaluations with simulated data are done where the type and amount of noise can be controlled and the ground truth transformations between scans are known. Second, real world data from a Tritech Eclipse sonar is used. Concretely, 18 sonar scans of a large structure in form of a flood gate and a lock in the river Lesum in Bremen are used for 3D mapping. In doing so, the spectral registration method is compared to two other methods suited for noisy 3D registrations, namely Iterative Closest Point (ICP) and plane-based registration. It is shown that the spectral registration method performs very well in terms of the resulting 3D map as well as its runtimes.

show abstract