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Seabed Terrain 3D Reconstruction Using 2D Forward-Looking Sonar: A Sea-Trial Report From The Pipeline Burying Project
Song SM(宋三明)1,2; Li Y(李岩)1,2; Li ZG(李智刚)1,2; Hu ZQ(胡志强)1,2; Li S(李硕)1,2; Cho, Gun Rae3; Li, Ji-Hong3
Department水下机器人研究室
Conference Name12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS)
Conference DateSeptember 18-20, 2019
Conference PlaceDaejeon, KOREA
Source Publication12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS)
PublisherELSEVIER
Publication PlaceAMSTERDAM
2019
Pages175-180
Indexed ByCPCI(ISTP)
WOS IDWOS:000504414000031
Contribution Rank1
ISSN2405-8963
KeywordSeabed terrain 3D reconstruction forward-looking sonar pipeline burying shape-from-shading point-cloud registration
AbstractIn this short paper, we report some preliminary results on the seabed terrain reconstruction using the two-dimensional (2D) forward-looking sonar. In the underwater pipeline burying project, when the burying machine excavating the trench using the jetting device, the stirred turbid water sharply shorten the visual distance of optical camera. Researchers from Shenyang Institute of Automation, Chinese Academy of Sciences (SIA, CAS) and Korea Institute of Robot and Convergence (KIRO) work together to reconstruct the 3D environment using the acoustic camera. The proposed reconstruction procedure mainly includes two parts: 3D point-cloud extraction for each sonar frame and point-cloud registration. With the former step, the elevation information, which is irreversely lost in the acoustic imaging process, is recovered by the shape-from-shading technology under the Lambert surface assumption. With the latter, a registration method based on symmetrical Kullback-Leibler divergence has been proposed to stitch the point clouds from each sonar image into a panoramic terrain map. The initial experiment results with the sea-trial datasets demonstrate that the proposed method is feasible for the practical underwater engineering. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.
Language英语
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/26174
Collection水下机器人研究室
Corresponding AuthorSong SM(宋三明)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences Shenyang, China
3.Applied Technology Division, Korea Institute of Robot and Convergence, 39 Jigok-ro, Nam-gu, Pohang 709-784, Republic of Korea
Recommended Citation
GB/T 7714
Song SM,Li Y,Li ZG,et al. Seabed Terrain 3D Reconstruction Using 2D Forward-Looking Sonar: A Sea-Trial Report From The Pipeline Burying Project[C]. AMSTERDAM:ELSEVIER,2019:175-180.
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