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Umgebungskartenschätzung aus Sidescan-Sonardaten für ein autonomes Unterwasserfahrzeug
Philipp Woock
2016
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This work makes several contributions to the process of estimating elevation maps from side-scan sonar data: A new estimation method that recreates sonar measurements by pre-computed known sonar responses (so called kernels) and then derives a height profile from the kernels used. Additionally, a 3D method based on Markov Random Fields and a side-scan sonar simulation environment for arbitraty 3D scenes featuring different sonar modes and several terrain generators have been developed.
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Keywords
- autonomes Unterwasserfahrzeug
- autonomous underwater vehicle
- environment map
- estimation
- Oberflächenrekonstruktion
- Schätzungsidescan sonar
- sonar
- surface reconstruction
- Umgebungskarte
Links
DOI: 10.5445/KSP/1000055793Editions