이미징 소나를 이용한 수중 지형의 실시간 3차원 스캔방법
- Title
- 이미징 소나를 이용한 수중 지형의 실시간 3차원 스캔방법
- Authors
- YU, SON CHEOL; BYEONGJIN, KIM; CHO, HYEONWOO
- Date Issued
- 2017-12-01
- Publisher
- 한국수중·수상로봇기술연구회
- Abstract
- This paper proposes a method based on an imaging sonar to obtain underwater terrain information.
The proposed method utilizes mobility of the AUV and characteristics of the imaging sonar. We reconstructed
three-dimensional(3D) information by estimating the elevation angle for a portion of the sonar image. We created a 3D
point cloud by scanning the seafloor. We can use the 3D point cloud to detect objects and to select landmarks. To
verify the feasibility of proposed methods, we conducted field experiments using a hovering-type AUV ‘Cyclops’.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/41682
- Article Type
- Conference
- Citation
- 2017 한국수중·수상로봇기술연구회 추계학술대회, page. 1 - 3, 2017-12-01
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