Planar AnP: A Solution to Acoustic-n-Point Problem on Planar Target

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

研究成果: Conference contribution

1 被引用数 (Scopus)


Acoustic camera is a new generation 2D forward-looking imaging sonar, which can generate clear images with high resolution even in turbid water. A fundamental problem to be solved is to determine the camera pose from given 3D points in the world coordinate and corresponding 2D points in the acoustic image. This problem is difficult to be solved analytically with a closed-form solution due to the unique projection theory. Specifically, this study discusses about estimation of camera pose from coplanar points which is a basic problem for camera calibration or resection based on plane targets. To solve this problem, a linearized projection model is used, which is similar to the weak-perspective model for the optical camera, to acquire a closed-form solution for acoustic camera pose. For more precise results, an iterative algorithm can be followed by using the closed-form solution as an initial guess. The proposed method can be applied to pose estimation of the acoustic camera based on targets such as 2D fiducial markers.

ホスト出版物のタイトル2020 Global Oceans 2020
ホスト出版物のサブタイトルSingapore - U.S. Gulf Coast
出版社Institute of Electrical and Electronics Engineers Inc.
出版ステータスPublished - 2020 10 5
イベント2020 Global Oceans: Singapore - U.S. Gulf Coast, OCEANS 2020 - Biloxi, United States
継続期間: 2020 10 52020 10 30


名前2020 Global Oceans 2020: Singapore - U.S. Gulf Coast


Conference2020 Global Oceans: Singapore - U.S. Gulf Coast, OCEANS 2020
国/地域United States

ASJC Scopus subject areas

  • 海洋学
  • 自動車工学
  • 器械工学
  • 信号処理


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