Please use this identifier to cite or link to this item: http://nopr.niscair.res.in/handle/123456789/15145
Title: 3D Reconstruction of seabed surface through sonar data of AUVs
Authors: Zhang, Lei
Jouvencel, Bruno
Fang, Zheng
Xiang, Xianbo
Keywords: AUVs
Sonar data
Delaunay triangulation
Triangular mesh
3D seabed reconstruction
Issue Date: Dec-2012
Publisher: NISCAIR-CSIR, India
Abstract: Autonomous underwater vehicles (AUVs) are widely used to explore the mysterious underwater world. Following along predefined spatial paths, AUVs are able to gather valuable seabed information in a designated area by recruiting sonar suites. The acoustic data collected by AUVs are usually in the type of point cloud with range information. Hence, how to reconstruct the topography of seabed via 3D point cloud data is the key to build the 3D seabed map. In order to address the problem, the paper presents a practical mesh method to achieve an accurate reconstruction of seabed surface from raw sonar records. Sonar data processing consists of three stages: point clearing, point normal and 3D surface reconstruction. Simulation results show the effectiveness of the proposed approach.
Description: 509-515
URI: http://hdl.handle.net/123456789/15145
ISSN: 0975-1033 (Online); 0379-5136 (Print)
Appears in Collections:IJMS Vol.41(6) [December 2012]

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