TY - GEN
T1 - 3D reconstruction of line features using multi-view acoustic images in underwater environment
AU - Mai, Ngoc Trung
AU - Woo, Hanwool
AU - Ji, Yonghoon
AU - Tamura, Yusuke
AU - Yamashita, Atsushi
AU - Asama, Hajime
N1 - Funding Information:
*This work was in part funded by ImPACT Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan).
PY - 2017/12/7
Y1 - 2017/12/7
N2 - In order to understand the underwater environment, it is essential to use sensing methodologies able to perceive the three dimensional (3D) information of the explored site. Sonar sensors are commonly employed in underwater exploration. This paper presents a novel methodology able to retrieve 3D information of underwater objects. The proposed solution employs an acoustic camera, which represents the next generation of sonar sensors, to extract and track the line of the underwater objects which are used as visual features for the image processing algorithm. In this work, we concentrate on artificial underwater environments, such as dams and bridges. In these structured environments, the line segments are preferred over the points feature, as they can represent structure information more effectively. We also developed a method for automatic extraction and correspondences matching of line features. Our approach enables 3D measurement of underwater objects using arbitrary viewpoints based on an extended Kalman filter (EKF). The probabilistic method allows computing the 3D reconstruction of underwater objects even in presence of uncertainty in the control input of the camera's movements. Experiments have been performed in real environments. Results showed the effectiveness and accuracy of the proposed solution.
AB - In order to understand the underwater environment, it is essential to use sensing methodologies able to perceive the three dimensional (3D) information of the explored site. Sonar sensors are commonly employed in underwater exploration. This paper presents a novel methodology able to retrieve 3D information of underwater objects. The proposed solution employs an acoustic camera, which represents the next generation of sonar sensors, to extract and track the line of the underwater objects which are used as visual features for the image processing algorithm. In this work, we concentrate on artificial underwater environments, such as dams and bridges. In these structured environments, the line segments are preferred over the points feature, as they can represent structure information more effectively. We also developed a method for automatic extraction and correspondences matching of line features. Our approach enables 3D measurement of underwater objects using arbitrary viewpoints based on an extended Kalman filter (EKF). The probabilistic method allows computing the 3D reconstruction of underwater objects even in presence of uncertainty in the control input of the camera's movements. Experiments have been performed in real environments. Results showed the effectiveness and accuracy of the proposed solution.
UR - http://www.scopus.com/inward/record.url?scp=85042382067&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85042382067&partnerID=8YFLogxK
U2 - 10.1109/MFI.2017.8170447
DO - 10.1109/MFI.2017.8170447
M3 - Conference contribution
AN - SCOPUS:85042382067
T3 - IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
SP - 312
EP - 317
BT - MFI 2017 - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2017
Y2 - 16 November 2017 through 18 November 2017
ER -