The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Bundle Adjustment and 3D Reconstruction Method for Underwater Sonar Image

수중 영상 소나의 번들 조정과 3차원 복원을 위한 운동 추정의 모호성에 관한 연구

  • Received : 2015.09.25
  • Accepted : 2016.01.14
  • Published : 2016.05.31
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Abstract

In this paper we present (1) analysis of imaging sonar measurement for two-view relative pose estimation of an autonomous vehicle and (2) bundle adjustment and 3D reconstruction method using imaging sonar. Sonar has been a popular sensor for underwater application due to its robustness to water turbidity and visibility in water medium. While vision based motion estimation has been applied to many ground vehicles for motion estimation and 3D reconstruction, imaging sonar addresses challenges in relative sensor frame motion. We focus on the fact that the sonar measurement inherently poses ambiguity in its measurement. This paper illustrates the source of the ambiguity in sonar measurements and summarizes assumptions for sonar based robot navigation. For validation, we synthetically generated underwater seafloor with varying complexity to analyze the error in the motion estimation.

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References

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