Seabed Terrain 3D Reconstruction Using 2D Forward-Looking Sonar: A Sea-Trial Report From The Pipeline Burying Project

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Seabed Terrain 3D Reconstruction Using 2D Forward-Looking Sonar: A Sea-Trial Report From The Pipeline Burying Project
	Song SM(宋三明)2,3 ; Li Y(李岩)2,3 ; Li ZG(李智刚)2,3 ; Hu ZQ(胡志强)2,3 ; Li S(李硕)2,3 ; Cho, Gun Rae 1; Li, Ji-Hong 1
	2019
会议日期	September 18-20, 2019
会议地点	Daejeon, KOREA
关键词	Seabed terrain 3D reconstruction forward-looking sonar pipeline burying shape-from-shading point-cloud registration
页码	175-180
英文摘要	In 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.
产权排序	1
会议录	12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS)
会议录出版者	ELSEVIER
会议录出版地	AMSTERDAM
语种	英语
ISSN号	2405-8963
WOS记录号	WOS:000504414000031
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26174]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Song SM(宋三明)
作者单位	1.Applied Technology Division, Korea Institute of Robot and Convergence, 39 Jigok-ro, Nam-gu, Pohang 709-784, Republic of Korea 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences Shenyang, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式 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]. 见:. Daejeon, KOREA. September 18-20, 2019.