Umgebungskartenschätzung aus Sidescan-Sonardaten für ein autonomes Unterwasserfahrzeug

• Main Author: Woock, Philipp (auth)
• Format: Electronic Book Chapter
• Published: KIT Scientific Publishing 2016
• Series: Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe
• Subjects: estimation; Oberflächenrekonstruktion; Sonar; Schätzungsidescan sonar; surface reconstruction; autonomous underwater vehicle; Umgebungskarte; autonomes Unterwasserfahrzeug; environment map
• Online Access: DOAB: download the publication; DOAB: description of the publication

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...