On 3-D reconstruction from stereo FS sonar imaging

S. Negahdaripour

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

2 Scopus citations


New generation of 2-D sonar cameras operating at 1-2 MHz provide images with enhanced target details in highly turbid waters, although range is reduced by one to two orders of magnitude compared to traditional low-/mid-frequency systems. Therefore, they are suitable imaging systems for the short-range inspection of underwater structures. As for 2-D optical images, multiple object images from nearby viewing positions may be utilized for 3-D shape reconstruction based on similar visual cues as the motion parallax. In this paper, we address the reconstruction of 3-D points from two sonar views, acquired either simultaneously by two cameras, or from a single camera at two known relative positions.We investigate a number of linear algorithms for 3-D reconstruction from matches in two views, and examine some degenerate configurations. While these do not provide an optimal solution, e.g., in the Maximum Likelihood sense, they can offer a good initial condition to ensure effective convergence of the ML estimate. We present results of experiments with synthetic and real data in support of our theoretical contributions.

Original languageEnglish (US)
Title of host publicationMTS/IEEE Seattle, OCEANS 2010
StatePublished - Dec 1 2010
EventMTS/IEEE Seattle, OCEANS 2010 - Seattle, WA, United States
Duration: Sep 20 2010Sep 23 2010

Publication series

NameMTS/IEEE Seattle, OCEANS 2010


OtherMTS/IEEE Seattle, OCEANS 2010
Country/TerritoryUnited States
CitySeattle, WA

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Ocean Engineering


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