Abstract
We propose a sequential method to extract 3-dimensional information for mapping by using sensor fusion of two sonar devices. The 3D reconstruction using sonar images from forward-looking multibeam sonar (FLMS) is an ill-posed problem due to the loss of elevation angle; thus we used an additional sonar and its complementary information. Our approach is to utilize geometric constraints between the installation of two sonar devices and complementary characteristics such as a different angle of the acoustic beams and data acquisition method. The fusion process proceeds in three stages. The first stage is to build a likelihood map using geometric constraints of the installation between two sonar devices. The second stage is to calculate the feasible elevation angle of the FLMS. The elevation angle of FLMS is limited by its vertical beam spreading angle, which can be represented by particles. The third stage is Monte-Carlo experiment using the generated particles by computing the weight, and correct the data of FLMS. To verify the proposed method, we applied the proposed method in simulations and experiments in engineering basin with an AUV.
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Recommended by Associate Editor Jinwhan Kim under the direction of Editor-in-Chief Keum-Shik Hong. This research was supported by the MSIT(Ministry of Science and ICT), Korea, under the ICT Consilience Creative program (IITP-2018-2011-1-00783) supervised by the IITP(Institute for Information & communications Technology Promotion), and was a part of the project titled ‘Gyeongbuk Sea Grant’, funded by the Ministry of Oceans and Fisheries, Korea.
Hangil Joe received his B.E. degree in mechanical engineering in 2012 from Pusan National University, Busan, Korea, and an M.S. degree in ocean engineering in 2014 from Pohang University of Science and Technology (POSTECH), Pohang, Korea. He earned a Ph.D. degree from the Department of Creative IT Engineering at POSTECH in 2019. Currently, he is a post-doctoral researcher in the Department of IT Engineering at POSTECH. His research interests include underwater robotics, underwater perception, and SLAM.
Jason Kim received his B.S. degree in computer engineering in 2018 from Ulsan National Institute of Science and Technology (UNIST), Ulsan, Korea. Currently, he is an M.S. candidate in the department of creative IT engineering at Pohang University of Science and Technology (POSTECH), Pohang, Korea. His research interests include computer simulation, underwater optical/sonar image processing, and SLAM.
Son-Cheol Yu received his B.E. degree in naval architecture and ocean engineering from Inha University, Incheon, South Korea, in 1998 and his M.E. and Ph.D. degrees in ocean and environmental engineering from The University of Tokyo, Tokyo, Japan, in 2000 and 2003, respectively. From 2008 to 2010, he was a faculty member with the School of Mechanical Engineering, Pusan National University, Busan, Korea. Since 2010, he has been a faculty member at Pohang University of Science and Technology (POSTECH), Pohang, Korea. His research interests include autonomous underwater vehicle systems and hazardous environmental robotics.
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Joe, H., Kim, J. & Yu, SC. 3D Reconstruction Using Two Sonar Devices in a Monte-Carlo Approach for AUV Application. Int. J. Control Autom. Syst. 18, 587–596 (2020). https://doi.org/10.1007/s12555-019-0692-2
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DOI: https://doi.org/10.1007/s12555-019-0692-2