Umgebungskartenschätzung aus Sidescan-Sonardaten für ein autonomes Unterwasserfahrzeug
Abstract
This work makes several contributions to the process of estimating elevation maps from side-scan sonar data: A new estimation method that recreates sonar measurements by pre-computed known sonar responses (so called kernels) and then derives a height profile from the kernels used. Additionally, a 3D method based on Markov Random Fields and a side-scan sonar simulation environment for arbitraty 3D scenes featuring different sonar modes and several terrain generators have been developed.
Keywords
estimation; Oberflächenrekonstruktion; Sonar; Schätzungsidescan sonar; surface reconstruction; autonomous underwater vehicle; Umgebungskarte; autonomes Unterwasserfahrzeug; environment mapISBN
9783731505419Publisher
KIT Scientific PublishingPublisher website
http://www.ksp.kit.edu/Publication date and place
2016Series
Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe,Classification
Computer science