Publication Detail

Sonar Data Fusion for 3-D Scene Reconstruction

John Leonard, Bradley A. Moran
12 pp.
MITSG 93-15J

This paper describes a geometric approach to underwater 3-D scene reconstruction using sonar range sensing. The goal is to recover explicit geometric surface descriptions for man-made objects, by fusing the geometric constraints of multiple sonar returns obtained from different sensing locations by a moving autonomous underwater vehicle. A simplified physical model of the sonar sensing process, based on the geometrical acoustics high- frequency approximation of acoustic scattering, is used. Research is directed to support the task of locating and retrieving rigid objects from the deep ocean seafloor, using an untethered AUV.

type: Technical reports

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