Abstract
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 language | English (US) |
|---|---|
| Title of host publication | OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean |
| DOIs | |
| State | Published - 2012 |
| Event | OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean - Virginia Beach, VA, United States Duration: Oct 14 2012 → Oct 19 2012 |
Other
| Other | OCEANS 2012 MTS/IEEE Hampton Roads Conference: Harnessing the Power of the Ocean |
|---|---|
| Country | United States |
| City | Virginia Beach, VA |
| Period | 10/14/12 → 10/19/12 |
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ASJC Scopus subject areas
- Ocean Engineering
Cite this
On 3-D scene interpretation from F-S sonar imagery. / Negahdaripour, Shahriar.
OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean. 2012. 6404921.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - On 3-D scene interpretation from F-S sonar imagery
AU - Negahdaripour, Shahriar
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
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U2 - 10.1109/OCEANS.2012.6404921
DO - 10.1109/OCEANS.2012.6404921
M3 - Conference contribution
SN - 9781467308298
BT - OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean
ER -