TY - GEN
T1 - Analyzing Epipolar Geometry of 2-D Forward-Scan Sonar Stereo for Matching and 3-D Reconstruction
AU - Negahdaripour, Shahriar
N1 - Funding Information:
This paper describes research supported by the ONR under Grant N00014-15-1-2089. Opinions, findings, conclusions or recommendations expressed in this manuscript are those of the author and do not necessarily reflect the views of the ONR. I am thankful to Zhigang Zhang in helping with parts of epipolar geometry analysis.
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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U2 - 10.1109/OCEANS.2018.8604540
DO - 10.1109/OCEANS.2018.8604540
M3 - Conference contribution
AN - SCOPUS:85061807529
T3 - OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
BT - OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018
Y2 - 22 October 2018 through 25 October 2018
ER -
