DocumentCode :
3324438
Title :
Plane-based registration of sonar data for underwater 3D mapping
Author :
Pathak, Kaustubh ; Birk, Andreas ; Vaskevicius, Narunas
Author_Institution :
Dept. of Comput. Sci., Jacobs Univ. Bremen, Bremen, Germany
fYear :
2010
fDate :
18-22 Oct. 2010
Firstpage :
4880
Lastpage :
4885
Abstract :
Surface-patches based 3D mapping in a real world underwater scenario is presented. It is based on a 6 degrees of freedom registration of sonar data. Planar surfaces are fitted into the sonar data and the subsequent registration method maximizes the overall geometric consistency within a search-space to determine correspondences between the planes. This approach has previously only been used on high quality range data from sensors on land robots like laser range finders. It is shown here that the algorithm is also applicable to very noisy, coarse sonar data. The 3D map presented is of a large underwater structure, namely the Lesumer Sperrwerk, a flood gate north of the city of Bremen, Germany. It is generated from 18 scans collected using a Tritech Eclipse sonar.
Keywords :
cartography; computational geometry; feature extraction; image registration; image representation; mobile robots; robot vision; search problems; sonar imaging; underwater vehicles; Bremen; Germany; Lesumer Sperrwerk; Tritech Eclipse sonar; geometric consistency; planar surfaces; search space; sonar data registration; surface patches; underwater 3D mapping;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
ISSN :
2153-0858
Print_ISBN :
978-1-4244-6674-0
Type :
conf
DOI :
10.1109/IROS.2010.5650953
Filename :
5650953
Link To Document :
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