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수중 이미지 소너를 활용한 수중 로봇의 3차원 지형 맵핑

Title
수중 이미지 소너를 활용한 수중 로봇의 3차원 지형 맵핑
Authors
YU, SON CHEOLJOE, HANGIL
Date Issued
17-Aug-2020
Publisher
한국로봇학회
Abstract
We propose a sequential method to extract 3-dimensional information for mapping by using sensor fusion of two sonar devices. The 3D reconstruction using sonar image from forward scanning sonar (FSS) is an ill-posed problem due to the loss of elevation angle, thus we use additional sonar and its complementary information. Our approach is to utilize geometric constraints between the installation of two sonar devices and complementary characteristics such as a different angle of the acoustic beam, and data acquisition method. To verify the proposed method, we applied the proposed method in simulation and experiment in engineering basin using the developed AUV Cyclops.
URI
http://oasis.postech.ac.kr/handle/2014.oak/104145
ISSN
2234-7194
Article Type
Conference
Citation
제15회 한국로봇종합학술대회, page. 1 - 2, 2020-08-17
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유선철YU, SON CHEOL
Div. of Advanced Nuclear Enginrg
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