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 language | English (US) |
|---|---|
| Title of host publication | OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Electronic) | 9781538648148 |
| DOIs | |
| State | Published - Jan 7 2019 |
| Event | OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 - Charleston, United States Duration: Oct 22 2018 → Oct 25 2018 |
Publication series
| Name | OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018 |
|---|
Conference
| Conference | OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 |
|---|---|
| Country | United States |
| City | Charleston |
| Period | 10/22/18 → 10/25/18 |
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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
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 proceeding › Conference contribution
}
TY - GEN
T1 - Analyzing Epipolar Geometry of 2-D Forward-Scan Sonar Stereo for Matching and 3-D Reconstruction
AU - Negahdaripour, Shahriar
PY - 2019/1/7
Y1 - 2019/1/7
N2 - 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.
AB - 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.
KW - 2-D FS sonar Imaging
KW - Epipolar geometry
KW - Multiple-view 3-D reconstruction
KW - Stereo vision
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UR - http://www.scopus.com/inward/citedby.url?scp=85061807529&partnerID=8YFLogxK
U2 - 10.1109/OCEANS.2018.8604540
DO - 10.1109/OCEANS.2018.8604540
M3 - Conference contribution
T3 - OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
BT - OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
PB - Institute of Electrical and Electronics Engineers Inc.
ER -