Skip to main content
Erschienen in: Autonomous Robots 4/2021

04.06.2021

Sensor fusion of two sonar devices for underwater 3D mapping with an AUV

verfasst von: Hangil Joe, Hyeonwoo Cho, Minsung Sung, Jinwhan Kim, Son-cheol Yu

Erschienen in: Autonomous Robots | Ausgabe 4/2021

Einloggen

Aktivieren Sie unsere intelligente Suche um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

We present herein a three-dimensional (3D) mapping method in one-way rectilinear scanning with an autonomous underwater vehicle (AUV) equipped with a forward looking sonar (FLS) and a profiling sonar (PS). Three-dimensional reconstruction using sonar with a finite beam width is an ill-posed problem, and additional constraints also need to be considered. Our approach involves an additional sonar and fuse acoustic measurements provided by the two sonar sensors. The FLS has a high resolution in the horizontal scan but has a uncertainty in the vertical scan. Meanwhile, the PS provides a reliable vertical profile, but its beam width is extremely narrow. An initial map is generated by the FLS and refined by combining the PS vertical scan data. To demonstrate the validity and effectiveness of the proposed method, we conducted tests in a water tank and also at sea. Finally, we presented the results of the proposed method gathered by an AUV in the tests.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Literatur
Zurück zum Zitat Arras, K. O., & Siegwart, R. Y. (1998). Feature extraction and scene interpretation for map-based navigation and map building. In: Mobile robots 12 (Vol. 3210, pp. 42-53). International Society for Optics and Photonics. Arras, K. O., & Siegwart, R. Y. (1998). Feature extraction and scene interpretation for map-based navigation and map building. In: Mobile robots 12 (Vol. 3210, pp. 42-53). International Society for Optics and Photonics.
Zurück zum Zitat Aykin, M. D., & Negahdaripour, S. (2016). Three-dimensional target reconstruction from multiple 2-d forward-scan sonar views by space carving. IEEE Journal of Oceanic Engineering, 42(3), 574–589.CrossRef Aykin, M. D., & Negahdaripour, S. (2016). Three-dimensional target reconstruction from multiple 2-d forward-scan sonar views by space carving. IEEE Journal of Oceanic Engineering, 42(3), 574–589.CrossRef
Zurück zum Zitat Belcher, E., Hanot, W., & Burch, J. (2002). Dual-frequency identification sonar (DIDSON). In: Proceedings of the 2002 interntional symposium on underwater technology (Cat. No. 02EX556) (pp. 187–192). IEEE. Belcher, E., Hanot, W., & Burch, J. (2002). Dual-frequency identification sonar (DIDSON). In: Proceedings of the 2002 interntional symposium on underwater technology (Cat. No. 02EX556) (pp. 187–192). IEEE.
Zurück zum Zitat Burguera, A. (2017). A novel approach to register sonar data for underwater robot localization. In: 2017 Intelligent systems conference (IntelliSys) (pp. 1034–1043). IEEE. Burguera, A. (2017). A novel approach to register sonar data for underwater robot localization. In: 2017 Intelligent systems conference (IntelliSys) (pp. 1034–1043). IEEE.
Zurück zum Zitat Cho, H., Kim, B., & Yu, S. C. (2017). AUV-based underwater 3-D point cloud generation using acoustic lens-based multibeam sonar. IEEE Journal of Oceanic Engineering, 43(4), 856–872.CrossRef Cho, H., Kim, B., & Yu, S. C. (2017). AUV-based underwater 3-D point cloud generation using acoustic lens-based multibeam sonar. IEEE Journal of Oceanic Engineering, 43(4), 856–872.CrossRef
Zurück zum Zitat Gerogiannis, D., Nikou, C., & Likas, A. (2011). A split-and-merge framework for 2D shape summarization. In: 2011 7th international symposium on Image and Signal Processing and Analysis (ISPA) (pp. 206–211). IEEE. Gerogiannis, D., Nikou, C., & Likas, A. (2011). A split-and-merge framework for 2D shape summarization. In: 2011 7th international symposium on Image and Signal Processing and Analysis (ISPA) (pp. 206–211). IEEE.
Zurück zum Zitat Guerneve, T., Subr, K., & Petillot, Y. (2018). Three-dimensional reconstruction of underwater objects using wide-aperture imaging SONAR. Journal of Field Robotics, 35(6), 890–905.CrossRef Guerneve, T., Subr, K., & Petillot, Y. (2018). Three-dimensional reconstruction of underwater objects using wide-aperture imaging SONAR. Journal of Field Robotics, 35(6), 890–905.CrossRef
Zurück zum Zitat Hernàndez Bes, E., Ridao Rodríguez, P., Ribas Romagós, D., Batlle, I., & Grabulosa, J. (2009). MSISpIC: A probabilistic scan matching algorithm using a mechanical scanned imaging sonar. Journal of physical agents, 3(1), 3–11. Hernàndez Bes, E., Ridao Rodríguez, P., Ribas Romagós, D., Batlle, I., & Grabulosa, J. (2009). MSISpIC: A probabilistic scan matching algorithm using a mechanical scanned imaging sonar. Journal of physical agents, 3(1), 3–11.
Zurück zum Zitat Hurtós, N. V. (2014). Forward-looking sonar mosaicing for underwater environments (Doctoral dissertation, Ph. D. Thesis, Universitat de Girona). Hurtós, N. V. (2014). Forward-looking sonar mosaicing for underwater environments (Doctoral dissertation, Ph. D. Thesis, Universitat de Girona).
Zurück zum Zitat Joe, H., Kim, M., & Yu, S. C. (2014). Second-order sliding-mode controller for autonomous underwater vehicle in the presence of unknown disturbances. Nonlinear Dynamics, 78(1), 183–196.CrossRef Joe, H., Kim, M., & Yu, S. C. (2014). Second-order sliding-mode controller for autonomous underwater vehicle in the presence of unknown disturbances. Nonlinear Dynamics, 78(1), 183–196.CrossRef
Zurück zum Zitat Kim, K., Intrator, N., & Neretti, N. (2004). Image registration and mosaicing of acoustic camera images. In: Proceedings of the 4th IASTED international conference on visualization, imaging, and image processing (pp. 713–718). Kim, K., Intrator, N., & Neretti, N. (2004). Image registration and mosaicing of acoustic camera images. In: Proceedings of the 4th IASTED international conference on visualization, imaging, and image processing (pp. 713–718).
Zurück zum Zitat Massot-Campos, M., Oliver, G., Bodenmann, A., & Thornton, B. (2016). Submap bathymetric SLAM using structured light in underwater environments. In: 2016 IEEE/OES Autonomous Underwater Vehicles (AUV) (pp. 181-188). IEEE. Massot-Campos, M., Oliver, G., Bodenmann, A., & Thornton, B. (2016). Submap bathymetric SLAM using structured light in underwater environments. In: 2016 IEEE/OES Autonomous Underwater Vehicles (AUV) (pp. 181-188). IEEE.
Zurück zum Zitat Pyo, J., Cho, H., Joe, H., Ura, T., & Yu, S. C. (2015). Development of hovering type AUV “Cyclops’’ and its performance evaluation using image mosaicing. Ocean Engineering, 109, 517–530.CrossRef Pyo, J., Cho, H., Joe, H., Ura, T., & Yu, S. C. (2015). Development of hovering type AUV “Cyclops’’ and its performance evaluation using image mosaicing. Ocean Engineering, 109, 517–530.CrossRef
Zurück zum Zitat Ribas, D., Ridao, P., Neira, J., & Tardos, J. D. (2006). SLAM using an imaging sonar for partially structured underwater environments. In: 2006 IEEE/RSJ international conference on intelligent robots and systems (pp. 5040–5045). IEEE. Ribas, D., Ridao, P., Neira, J., & Tardos, J. D. (2006). SLAM using an imaging sonar for partially structured underwater environments. In: 2006 IEEE/RSJ international conference on intelligent robots and systems (pp. 5040–5045). IEEE.
Zurück zum Zitat Ribas, D., Ridao, P., & Neira, J. (2010). Underwater SLAM for structured environments using an imaging sonar. Cham: Springer.CrossRef Ribas, D., Ridao, P., & Neira, J. (2010). Underwater SLAM for structured environments using an imaging sonar. Cham: Springer.CrossRef
Zurück zum Zitat Teixeira, P. V., Kaess, M., Hover, F. S., & Leonard, J. J. (2016). Underwater inspection using sonar-based volumetric submaps. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4288–4295). IEEE. Teixeira, P. V., Kaess, M., Hover, F. S., & Leonard, J. J. (2016). Underwater inspection using sonar-based volumetric submaps. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4288–4295). IEEE.
Zurück zum Zitat VanMiddlesworth, M., Kaess, M., Hover, F., & Leonard, J. J. (2015). Mapping 3d underwater environments with smoothed submaps. Field and service robotics (pp. 17–30). Cham: Springer. VanMiddlesworth, M., Kaess, M., Hover, F., & Leonard, J. J. (2015). Mapping 3d underwater environments with smoothed submaps. Field and service robotics (pp. 17–30). Cham: Springer.
Zurück zum Zitat Walter, M. R. (2008). Sparse Bayesian information filters for localization and mapping (No. MIT/WHOI-2008-12). Woods Hole Oceanographic Institution MA Department of Ocean Engineering. Walter, M. R. (2008). Sparse Bayesian information filters for localization and mapping (No. MIT/WHOI-2008-12). Woods Hole Oceanographic Institution MA Department of Ocean Engineering.
Zurück zum Zitat Walter, M., Hover, F., & Leonard, J. (2008). SLAM for ship hull inspection using exactly sparse extended information filters. In: 2008 IEEE international conference on robotics and automation (pp. 1463–1470). IEEE. Walter, M., Hover, F., & Leonard, J. (2008). SLAM for ship hull inspection using exactly sparse extended information filters. In: 2008 IEEE international conference on robotics and automation (pp. 1463–1470). IEEE.
Metadaten
Titel
Sensor fusion of two sonar devices for underwater 3D mapping with an AUV
verfasst von
Hangil Joe
Hyeonwoo Cho
Minsung Sung
Jinwhan Kim
Son-cheol Yu
Publikationsdatum
04.06.2021
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 4/2021
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-021-09986-5

Weitere Artikel der Ausgabe 4/2021

Autonomous Robots 4/2021 Zur Ausgabe

Neuer Inhalt