프로파일링 소나와 이미지 소나를 융합한 해저 지형 맵핑에 관한 연구
- Title
- 프로파일링 소나와 이미지 소나를 융합한 해저 지형 맵핑에 관한 연구
- Authors
- YU, SON CHEOL; 조한길
- Date Issued
- 2019-05-30
- Publisher
- 한국수중·수상로봇기술연구회
- Abstract
- In this paper, we propose a 3D mapping method by sensor fusion of two different sonars: a Forward looking (FLS) and a profiling sonars (PS). We utilize the complementary information of the sonars. FLS provides high quality horizontal information with high resolution, and PS provides reliable vertical information with medium resolution. To fuse the two sonar data, we used submap based line feature extraction method. To verify the proposed method, we conducted a tank test and seatrial.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/99522
- Article Type
- Conference
- Citation
- 2019 한국수중·수상로봇기술연구회 춘계학술대회, page. 1 - 4, 2019-05-30
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