Abstract
The extraction of reliable features is a key issue for autonomous underwater vehicle navigation. Imaging sonars can produce acoustic images of the surroundings of the vehicle. Despite of the noise, the phantoms and reflections, we believe that they are a good source for features since they can work in turbid water where other sensors like vision fail. Moreover, they can cover wide areas incrementing the number of features visible within a scan. This work presents an algorithm to extract linear features from underwater structured environments including as major contributions a novel sonar model sensor and an adapted implementation of the Hough transform.
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Ribas, D., Ridao, P., Neira, J., Tardós, J.D. (2007). Line Extraction from Mechanically Scanned Imaging Sonar. In: Martí, J., Benedí, J.M., Mendonça, A.M., Serrat, J. (eds) Pattern Recognition and Image Analysis. IbPRIA 2007. Lecture Notes in Computer Science, vol 4477. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72847-4_42
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DOI: https://doi.org/10.1007/978-3-540-72847-4_42
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-72846-7
Online ISBN: 978-3-540-72847-4
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