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The estimation of the geometric structure of objects located underwater underpins a plethora of applications such as mapping shipwrecks for archaeology, monitoring the health of coral reefs, detecting faults in offshore oil rigs and pipelines, detection and identification of potential threats on the seabed, etc. Acoustic imaging is the most popular choice for underwater sensing. Underwater exploratory...
Acquiring accurate and coloured 3D representations of underwater scenes is of prime importance in many applications such as ship hull inspection, offshore structure assessment, archaeology or the detection of hazards such as underwater mines. While video and laser-based 3D reconstruction approaches are limited to very short ranges, the use of SONAR sensors enable the recognition and localisation of...
SONAR mapping of underwater environments leads to dense point-clouds. These maps have large memory footprints, are inherently noisy and consist of raw data with no semantic information. This paper presents an approach to underwater semantic mapping where known man-made structures that appear in multibeam SONAR data are automatically recognised. From a set of SONAR images acquired by an Autonomous...
This paper addresses the problem of 3D scene reconstruction from 2D imaging sonars. Reconstruction using imaging sonar being a non-trivial problem, we present an algorithm enabling the generation of a 3D map of the observed scene from a sequence of imaging sonar images. The inherent problem when using large aperture sonars being the unavailability of the elevation angle information, our algorithm...
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