On 3-D target reconstruction from multiple 2-D forward-scan sonar views

Murat D. Aykin, Shahriar Negahdaripour

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

12 Scopus citations


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 languageEnglish (US)
Title of host publicationMTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781479987368
StatePublished - Sep 17 2015
EventMTS/IEEE OCEANS 2015 - Genova - Genova, Italy
Duration: May 18 2015May 21 2015


OtherMTS/IEEE OCEANS 2015 - Genova

ASJC Scopus subject areas

  • Renewable Energy, Sustainability and the Environment
  • Oceanography


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