3D Reconstruction with an AUV Mounted Forward-Looking Sonar

Abstract

The paper discusses the use of dual stave forward-looking sonar to build a threedimensional underwater model for navigation in restricted waterways. The sonar normally provides separate horizontal and vertical images but when the information is synthesized into a single three-dimensional model it permits, in certain circumstances, the AUV to plan and carry out a trajectory where no path is otherwise available. As the sonar system is fixed mounted to the AUV body, a trajectory is presented which uses the combined sonar fields-of-view to produce paths that optimize situational understanding for reactive and deliberative obstacle avoidance.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 2009
Accession Number
ADA526643

Entities

People

  • Douglas Horner
  • Nevin Mcchesney
  • Sean Kragelund
  • Tad Masek

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Sensors
  • Space

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Data Sets
  • Detection
  • Geometry
  • Grids
  • Image Processing
  • Measurement
  • Motion Planning
  • Navigation
  • Probabilistic Models
  • Probability
  • Probability Distributions
  • Sonar Images
  • Three Dimensional
  • Trajectories
  • Underwater Acoustics
  • Vehicles

Readers

  • Acoustical Oceanography.
  • Computer Vision.
  • Robotics and Automation.