Epipolar Geometry of Opti-Acoustic Stereo Imaging
IEEE Transactions on Pattern Analysis and Machine Intelligence
Three-dimensional measurement of objects in water by using space encoding method
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
3-D motion estimation by integrating visual cues in 2-D multi-modal opti-acoustic stereo sequences
Computer Vision and Image Understanding
Visual motion ambiguities of a plane in 2-D FS sonar motion sequences
Computer Vision and Image Understanding
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The acoustic lens is a high-resolution, forward-looking sonar for three dimensional (3-D) underwater imaging. We discuss processing the lens data for recreating and visualizing the scene. Acoustical imaging, compared to optical imaging, is sparse and low resolution. To achieve higher resolution, we obtain a denser sample by mounting the lens on a moving platform and passing over the scene. This introduces the problem of data fusion from multiple overlapping views for scene formation, which we discuss. We also discuss the improvements in object reconstruction by combining data from several passes over an object. We present algorithms for pass registration and show that this process can be done with enough accuracy to improve the image and provide greater detail about the object. The results of in-water experiments show the degree to which size and shape can be obtained under (nearly) ideal conditions