3D Surfaces Reconstruction and Volume Changes in Underwater Environments Using MSIS Sonar

被引：5

作者：

Justo, Bruno ^{[1
]}

Machado, Matheus ^{[1
]}

Drews Jr, Paulo ^{[1
]}

Arigony, Jorge ^{[2
]}

Vieira, Antonio ^{[3
]}

机构：

[1] Univ Fed Rio Grande, Ctr Ciencias Computacionais, Av Italia Km 8, Rio Grande, RS, Brazil

[2] Univ Fed Rio Grande, Inst Oceanog, Av Italia Km 8, Rio Grande, RS, Brazil

[3] Univ Estadual Montes Claros, Ctr Ciencias Exatas & Tecnol, Av Prof Rui Braga S-N, Montes Claros, MG, Brazil

来源：

2019 LATIN AMERICAN ROBOTICS SYMPOSIUM, 2019 BRAZILIAN SYMPOSIUM ON ROBOTICS (SBR) AND 2019 WORKSHOP ON ROBOTICS IN EDUCATION (LARS-SBR-WRE 2019) | 2019年

关键词：

D O I：

10.1109/LARS-SBR-WRE48964.2019.00028

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Robotic exploration of underwater places is still a challenge for the humanity. However, sonar becomes a great alternative for studying underwater environments, since it dispenses with the dependence of luminosity on the environment and ignores water turbidity. The present work proposes a methodology for estimating spatial variations of submerged surfaces through 3D reconstruction, using a MSIS sonar. The approach aims at the application in the study of melting submerged glaciers. The methodology is evaluated using real and simulated data obtaining good results when compared with the ground truth.

引用

页码：115 / 120

页数：6

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