Abstract
We present a novel method for determining the 3-D shape of a target from multiple 2-D forward-look sonar images captured at known sonar poses. It enables both the 3-D localization and modeling of scene objects made from any material visible to the sonar. The method is based on the sequential carving of the non-target space based on projections onto various images, leaving the volume deemed to be occupied by the object of interest. While the estimation generally improves with information from new distinct views, the images acquired through sonar roll motions at only a few views, rather than circumnavigating the target, are critical for more precise reconstruction. Experimental results include computer simulations to assess the convergence properties of our approach for convex and concave polygons. Additionally, we demonstrate performance in experiments with real images of two amorphous coral rocks. Potential applications of our technique include target classification, recognition, re-acquisition and avoidance, as well as 3-D environmental mapping.
| Original language | English (US) |
|---|---|
| Title of host publication | MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Print) | 9781479987368 |
| DOIs | |
| State | Published - Sep 17 2015 |
| Event | MTS/IEEE OCEANS 2015 - Genova - Genova, Italy Duration: May 18 2015 → May 21 2015 |
Other
| Other | MTS/IEEE OCEANS 2015 - Genova |
|---|---|
| Country | Italy |
| City | Genova |
| Period | 5/18/15 → 5/21/15 |
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ASJC Scopus subject areas
- Renewable Energy, Sustainability and the Environment
- Oceanography
Cite this
On 3-D target reconstruction from multiple 2-D forward-scan sonar views. / Aykin, Murat D.; Negahdaripour, Shahriar.
MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World. Institute of Electrical and Electronics Engineers Inc., 2015. 7271627.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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TY - GEN
T1 - On 3-D target reconstruction from multiple 2-D forward-scan sonar views
AU - Aykin, Murat D.
AU - Negahdaripour, Shahriar
PY - 2015/9/17
Y1 - 2015/9/17
N2 - We present a novel method for determining the 3-D shape of a target from multiple 2-D forward-look sonar images captured at known sonar poses. It enables both the 3-D localization and modeling of scene objects made from any material visible to the sonar. The method is based on the sequential carving of the non-target space based on projections onto various images, leaving the volume deemed to be occupied by the object of interest. While the estimation generally improves with information from new distinct views, the images acquired through sonar roll motions at only a few views, rather than circumnavigating the target, are critical for more precise reconstruction. Experimental results include computer simulations to assess the convergence properties of our approach for convex and concave polygons. Additionally, we demonstrate performance in experiments with real images of two amorphous coral rocks. Potential applications of our technique include target classification, recognition, re-acquisition and avoidance, as well as 3-D environmental mapping.
AB - We present a novel method for determining the 3-D shape of a target from multiple 2-D forward-look sonar images captured at known sonar poses. It enables both the 3-D localization and modeling of scene objects made from any material visible to the sonar. The method is based on the sequential carving of the non-target space based on projections onto various images, leaving the volume deemed to be occupied by the object of interest. While the estimation generally improves with information from new distinct views, the images acquired through sonar roll motions at only a few views, rather than circumnavigating the target, are critical for more precise reconstruction. Experimental results include computer simulations to assess the convergence properties of our approach for convex and concave polygons. Additionally, we demonstrate performance in experiments with real images of two amorphous coral rocks. Potential applications of our technique include target classification, recognition, re-acquisition and avoidance, as well as 3-D environmental mapping.
UR - http://www.scopus.com/inward/record.url?scp=84957711756&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84957711756&partnerID=8YFLogxK
U2 - 10.1109/OCEANS-Genova.2015.7271627
DO - 10.1109/OCEANS-Genova.2015.7271627
M3 - Conference contribution
SN - 9781479987368
BT - MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World
PB - Institute of Electrical and Electronics Engineers Inc.
ER -