It enables both the 3-D localization and modeling of scene objects made from any material visible to the sonar. Potential applications of our technique include target classification, recognition, re-acquisition and avoidance, as well as 3-D environmental mapping.ĪB - 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. Additionally, we demonstrate performance in experiments with real images of two amorphous coral rocks. Experimental results include computer simulations to assess the convergence properties of our approach for convex and concave polygons. 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. 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.
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. T1 - On 3-D target reconstruction from multiple 2-D forward-scan sonar views Potential applications of our technique include target classification, recognition, re-acquisition and avoidance, as well as 3-D environmental mapping.", Potential applications of our technique include target classification, recognition, re-acquisition and avoidance, as well as 3-D environmental mapping.Ībstract = "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.
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.
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