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3D Occupancy Mapping Framework Based on Acoustic Camera in Underwater Environment

机译：3D基于隔音照相机在水下环境中的3D占用映射框架

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摘要

In this paper, we present a novel probabilistic three-dimensional (3D) mapping framework that uses acoustic images captured in an underwater environment. Acoustic camera is a forward-looking imaging sonar that is commonly used in underwater inspection recently; however, the loss of elevation angle information makes it difficult to get a better understanding of underwater environment. To cope with this, we apply a probabilistic occupancy mapping framework with a novel inverse sensor model suitable for the acoustic camera in order to reconstruct the underwater environment in volumetric presentation. The simulations and experimental results demonstrate that our mapping framework for the acoustic camera can reconstruct dense 3D model of underwater targets successfully.
机译：在本文中，我们提出了一种新的概率三维（3D）映射框架，其使用在水下环境中捕获的声学图像。声学相机是最近在水下检查中使用的前瞻性成像声纳;然而，升高角度信息的损失使得难以实现对水下环境的更好理解。为应对这一点，我们使用适合于声摄像机的新型逆传感器模型应用概率占用映射框架，以便在体积呈现中重建水下环境。仿真和实验结果表明，我们的映射框架用于声学相机可以成功地重建水下目标的密集3D模型。

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