수중 이미지 소너를 활용한 수중 로봇의 3차원 지형 맵핑

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.