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4 | 3-D Mapping and Localization with limited visibility

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2020.06.24 / 482

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In extreme environments with limited visibility, optical sensors have limited performance. The acoustic sensors can be one of the alternatives to the optical sensors in a low-visibility environment. However, the acoustic sensors have poor SNR characteristics, low-resolution problems,  and loss of height information.
Therefore, a proper signal processing technique is required. This research is a 3-D seafloor scanning method using multibeam sonar.
It provides a unique analysis of sonar image geometry for extracting missing elevation information and can be continuously executed regardless of the existence of features.
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