NDLI: Spectral registration of noisy sonar data for underwater 3D mapping

Content Provider	Springer Nature Link
Author	Bülow, Heiko Birk, Andreas
Copyright Year	2011
Abstract	3D mapping is very challenging in the underwater domain, especially due to the lack of high resolution, low noise sensors. A new spectral registration method is presented that can determine the spatial 6 DOF transformation between pairs of very noisy 3D scans with only partial overlap. The approach is hence suited to cope with sonar as the predominant underwater sensor. The spectral registration method is based on Phase Only Matched Filtering (POMF) on non-trivially resampled spectra of the 3D data.Two extensive sets of experiments are presented. First, evaluations with simulated data are done where the type and amount of noise can be controlled and the ground truth transformations between scans are known. Second, real world data from a Tritech Eclipse sonar is used. Concretely, 18 sonar scans of a large structure in form of a flood gate and a lock in the river Lesum in Bremen are used for 3D mapping. In doing so, the spectral registration method is compared to two other methods suited for noisy 3D registrations, namely Iterative Closest Point (ICP) and plane-based registration. It is shown that the spectral registration method performs very well in terms of the resulting 3D map as well as its run-times.
Starting Page	307
Ending Page	331
Page Count	25
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	30
Issue Number	3
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2011-02-04
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	3D mapping Underwater robotics Spectral registration Autonomous Underwater Vehicle (AUV) Remotely Operated Vehicle (ROV) Computer Imaging, Vision, Pattern Recognition and Graphics Artificial Intelligence (incl. Robotics) Control , Robotics, Mechatronics Robotics and Automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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