Publication Detail

A non-deterministic approach to 3-D modeling underwater

W. Kenneth Stewart

A framework for multisensor exploration of underwater environments is presented with results of applications in 3-dimensional sonar mapping. A multidimensional model provides the basis for extracting information relevant to concurrent real-time processes. Probabilistic methods account for non-ideal sensors while spatial decomposition and numerical techniques treat amorphous underwater features and allow an incremental approach to representing the surroundings. Computer simulations and field applications with profiling and imaging sonars aboard ships, towed platforms, and remotely operated vehicles offer supporting evidence in the areas of underwater archaeology, geological mapping, and search operations.

type: Technical reports

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