Deriving a terrain model from sensor data is an important task for the autonomous navigation of a mobile robot. An approach is presented for autonomous underwater vehicles using a side scan sonar system. Some general aspects of the type of data and filtering techniques to improve it are discussed. An estimated bottom contour is derived using a geometric reflection model and information about shadows and highlights. Several techniques of surface reconstruction and their limitations are presented. A method is presented for feature extraction which is important for future data matching/fusion procedures.


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    Title :

    Building qualitative elevation maps from side scan sonar data for autonomous underwater navigation


    Additional title:

    Berechnung qualitativer Höhenkarten aus seitlich abgetasteten Sonardaten für die autonome Unterwassernavigation


    Contributors:
    Langer, D. (author) / Hebert, M. (author)


    Publication date :

    1991


    Size :

    6 Seiten, 12 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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