Lack of information and perceptual ambiguity are key problems in sonar-based mapping applications. We propose a technique for mapping of underwater environments, building on the finite, positive, sonar beamwidth. Our approach models the free-space covered by each emitted acoustic pulse, employing volumetric techniques to create grid-based submaps of the unoccupied water volumes through images collected from imaging sonars. A representation of the occupied space is obtained by exploration of the free-space frontier. Special attention is given to acoustic image preparation and segmentation. Experimental results are provided based on real data collected from a dam shaft scenario.
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Underwater Volumetric Mapping using Imaging Sonar and Free-Space Modeling Approach
Semantic Scholar · Engineering · 2024
Abstract
Lack of information and perceptual ambiguity are key problems in sonar-based mapping applications. We propose a technique for mapping of underwater environments, building on the finite, positive, sonar beamwidth. Our approach models the free-space covered by each emitted acoustic pulse, employing volumetric techniques to create grid-based submaps of the unoccupied water volumes through images collected from imaging sonars. A representation of the occupied space is obtained by exploration of the free-space frontier. Special attention is given to acoustic image preparation and segmentation. Experimental results are provided based on real data collected from a dam shaft scenario.