Three-dimensional Underwater Environment Reconstruction with Graph Optimization Using Acoustic Camera

Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this paper, a three-dimensional (3D) environment reconstruction framework based on graph optimization is proposed that uses acoustic images captured in an underwater environment. Underwater tasks such as unmanned construction using robots are becoming more and more important. In recent years, acoustic cameras which are forward-looking imaging sonars are being commonly used in underwater inspection. However, the loss of elevation angle information makes it difficult to get a better understanding of underwater environments. To cope with this, we apply 3D occupancy mapping method based on the acoustic camera rotating around the acoustic axis to generate 3D local maps. Next, from the local maps and a graph optimization scheme, we minimize the error of camera poses and build a global map. Experimental results demonstrate that our 3D mapping framework for the acoustic camera can reconstruct dense 3D models of underwater targets robustly and precisely.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages28-33
Number of pages6
ISBN (Electronic)9781538636152
DOIs
Publication statusPublished - 2019 Apr 25
Externally publishedYes
Event2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France
Duration: 2019 Jan 142019 Jan 16

Publication series

NameProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

Conference

Conference2019 IEEE/SICE International Symposium on System Integration, SII 2019
CountryFrance
CityParis
Period19/1/1419/1/16

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering

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