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Indian Journal of Geo-Marine Sciences (IJMS) >
IJMS Vol.41 [2012] >
IJMS Vol.41(6) [December 2012] >
| 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. |
| Page(s): | 509-515 |
| CC License: |  CC Attribution-Noncommercial-No Derivative Works 2.5 India |
| ISSN: | 0975-1033 (Online); 0379-5136 (Print) |
| Source: | IJMS Vol.41(6) [December 2012]
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