On 3-D scene interpretation from F-S sonar imagery

Shahriar Negaharipour

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

7 Scopus citations


Sonar imaging systems, including the recent generation of high-frequency 2-D forward-scan video cameras, are the most effective modality for underwater operations in highly turbid conditions. Automatic processing of sonar imagery to recover information about the 3-D environment enhances utility and performance and enables new capabilities in the operation of autonomous undersea vehicles. This paper is about the reconstruction of a 3-D scene from various visual cues in 2-D forward-scan sonar imagery. We show how the sizes, contour shapes and relative positions of various 3-D objects in the scene can be determined from both radiometric information in a single image to detect object and shadow regions, and various other geometric cues. Measurements from certain common auxiliary sensors, e.g., inclinometers and (or) altimeters, can be utilized to improve accuracy. Performance is assessed based on ground-truth in experiments with both synthetic data, and real images through comparison with estimates from an independent technique.

Original languageEnglish (US)
Title of host publicationOCEANS 2012 MTS/IEEE
Subtitle of host publicationHarnessing the Power of the Ocean
StatePublished - Dec 1 2012
EventOCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean - Virginia Beach, VA, United States
Duration: Oct 14 2012Oct 19 2012

Publication series

NameOCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean


OtherOCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean
Country/TerritoryUnited States
CityVirginia Beach, VA

ASJC Scopus subject areas

  • Ocean Engineering


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