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Building Qualitative Elevation Maps From Side Scan Sonar Data For Autonomous Underwater Navigation

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posted on 1991-01-01, 00:00 authored by Dirk Langer, Martial Hebert
Deriving a terrain model from sensor data is an important task for the autonomous navigation of a mobile robot. An approach is presented for autonomous underwater vehicles using a side scan sonar system. Some general aspects of the type of data and filtering techniques to improve it are discussed. An estimated bottom contour is derived using a geometric reflection model and information about shadows and highlights. Several techniques of surface reconstruction and their limitations are presented. A method is presented for feature extraction which is important for future data matching/fusion procedures.

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Date

1991-01-01

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    RoboticsAdaptive Agents and Intelligent Robotics

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