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Umgebungskartenschätzung aus Sidescan-Sonardaten für ein autonomes Unterwasserfahrzeug

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...

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Bibliografiset tiedot
Päätekijä: Woock, Philipp (auth)
Aineistotyyppi: Elektroninen Kirjan osa
Julkaistu: KIT Scientific Publishing 2016
Sarja:Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe
Aiheet:
estimation
Oberflächenrekonstruktion
Sonar
Schätzungsidescan sonar
surface reconstruction
autonomous underwater vehicle
Umgebungskarte
autonomes Unterwasserfahrzeug
environment map
Linkit:DOAB: download the publication
DOAB: description of the publication
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Kuvaus
Yhteenveto: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.
Ulkoasu:1 electronic resource (XXV, 331 p. p.)
ISBN:KSP/1000055793
9783731505419
Pääsy:Open Access

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