Analyzing Epipolar Geometry of 2-D Forward-Scan Sonar Stereo for Matching and 3-D Reconstruction

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

New generation of underwater 2-D forward-look sonar video systems operating at over 1 MHz frequency offer images with enhanced target detail. Within limited range of only tens of meters, they are the most suitable imaging systems for conducting visually guided missions in turbid waters. The reconstruction of 3-D target shapes or simply establishing the 3-D spatial location of interest points is a highly desired capability for automating many tasks. As achieved with 2-D optical images, multiple images from nearby positions may be utilized. This paper investigates some key issues in the accurate estimation of 3-D point locations from overlapping images of two forward-scan (FS) sonar systems in stereo configuration. We first present a stereo calibration algorithm and assess its accuracy. We then analyze the sonar stereo epipolar geometry. Beyond reducing the correspondence problem to a 1-D search along epipolar curves, this reveals unique properties associated with sonar measurements of range and azimuth angle. In particular, the search window to locate feature matches can vary significantly with stereo geometry, posing key tradeoffs. These issues are demonstrate using representative examples, and experiments with real data.

Original languageEnglish (US)
Title of host publicationOCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538648148
DOIs
StatePublished - Jan 7 2019
EventOCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 - Charleston, United States
Duration: Oct 22 2018Oct 25 2018

Publication series

NameOCEANS 2018 MTS/IEEE Charleston, OCEAN 2018

Conference

ConferenceOCEANS 2018 MTS/IEEE Charleston, OCEANS 2018
CountryUnited States
CityCharleston
Period10/22/1810/25/18

Fingerprint

Sonar
sonar
geometry
Geometry
Imaging systems
azimuth
Calibration
calibration
Water
experiment
Experiments
water

Keywords

  • 2-D FS sonar Imaging
  • Epipolar geometry
  • Multiple-view 3-D reconstruction
  • Stereo vision

ASJC Scopus subject areas

  • Renewable Energy, Sustainability and the Environment
  • Oceanography

Cite this

Negahdaripour, S. (2019). Analyzing Epipolar Geometry of 2-D Forward-Scan Sonar Stereo for Matching and 3-D Reconstruction. In OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018 [8604540] (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/OCEANS.2018.8604540

Analyzing Epipolar Geometry of 2-D Forward-Scan Sonar Stereo for Matching and 3-D Reconstruction. / Negahdaripour, Shahriar.

OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018. Institute of Electrical and Electronics Engineers Inc., 2019. 8604540 (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Negahdaripour, S 2019, Analyzing Epipolar Geometry of 2-D Forward-Scan Sonar Stereo for Matching and 3-D Reconstruction. in OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018., 8604540, OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018, Institute of Electrical and Electronics Engineers Inc., OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018, Charleston, United States, 10/22/18. https://doi.org/10.1109/OCEANS.2018.8604540
Negahdaripour S. Analyzing Epipolar Geometry of 2-D Forward-Scan Sonar Stereo for Matching and 3-D Reconstruction. In OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018. Institute of Electrical and Electronics Engineers Inc. 2019. 8604540. (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018). https://doi.org/10.1109/OCEANS.2018.8604540
Negahdaripour, Shahriar. / Analyzing Epipolar Geometry of 2-D Forward-Scan Sonar Stereo for Matching and 3-D Reconstruction. OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018. Institute of Electrical and Electronics Engineers Inc., 2019. (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018).
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