TY - GEN
T1 - Three-dimensional Underwater Environment Reconstruction with Graph Optimization Using Acoustic Camera
AU - Wang, Yusheng
AU - Ji, Yonghoon
AU - Woo, Hanwool
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), JSPS KAKENHI Grant Number 18H06483, and a part of this study is the result of “HRD for Fukushima Daiichi Decommissioning Based on Robotics and Nuclide Analysis” carried out under the Center of World and Intelligence Project for Nuclear S&T and Human Resources Development by the Ministry of Education, Culture, Sports, Science and Technology of Japan.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/4/25
Y1 - 2019/4/25
N2 - 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.
AB - 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.
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U2 - 10.1109/SII.2019.8700464
DO - 10.1109/SII.2019.8700464
M3 - Conference contribution
AN - SCOPUS:85065648097
T3 - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
SP - 28
EP - 33
BT - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/SICE International Symposium on System Integration, SII 2019
Y2 - 14 January 2019 through 16 January 2019
ER -