DMCA
Incorporating Different Reflection Models into Surface Reconstruction (1993)
| Venue: | In Proc. Unmanned Untethered Submersible Technology Conf |
| Citations: | 1 - 1 self |
BibTeX
@INPROCEEDINGS{Johnson93incorporatingdifferent,
author = {Andrew Johnson},
title = {Incorporating Different Reflection Models into Surface Reconstruction},
booktitle = {In Proc. Unmanned Untethered Submersible Technology Conf},
year = {1993},
pages = {446--459}
}
Share
 |
 |
 |
 |
||
OpenURL
Abstract
Generation of elevation maps of the seafloor is an important component of any autonomous system designed to navigate underwater. Because of its long range, sonar is the sensing medium of choice for underwater navigation. However, sonar systems designed to directly generate 3D images are generally complex or have low resolution. For these reasons, techniques that generate 3D elevation maps from 2D sonar intensity images are necessary for terrain modeling and navigation. Furthermore, recovering intrinsic terrain properties, such as albedo and surface roughness, is important for undersea mapping and exploration. This paper presents two techniques for the generation of elevation maps of the seafloor from side scan sonar intensity images and sparse bathymetric data. These techniques employ a reflection model of the seafloor to establish a correspondence between the intensity at a point and the surface normal at that point. The first technique uses a constraint between the surface normal and...
Keyphrases
elevation map different reflection model surface reconstruction underwater navigation sparse bathymetric data terrain modeling autonomous system long range important component low resolution first technique sonar intensity image intrinsic terrain property sonar system undersea mapping side scan sonar intensity image reflection model surface roughness
