Three-Dimensional Target Reconstruction From Multiple 2-D Forward-Scan Sonar Views by Space Carving
Three-Dimensional Target Reconstruction From Multiple 2-D Forward-Scan Sonar Views by Space Carving
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DOI：
10.1109/joe.2016.2591738
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发表时间：
2017-07-01
影响因子：
4.1
通讯作者：
Negahdaripour, Shahriar
中科院分区：
文献类型：
--
作者：
Aykin, Murat D.;Negahdaripour, Shahriar
从二维图像中建立三维目标模型是目标分类和识别、重新捕获以及环境映射的关键能力，在水下可见性差的许多应用中。我们提出了一种新的方法，利用多个2-D前视声纳图像从已知的声纳姿态定位一个声学不透明的目标，并重建其3-D形状。基于对各种图像的投影，声纳视野内未被成像目标占据的3-D空间被顺序地雕刻出来，留下剩余的体积作为3-D对象区域的估计。该估计通常随着来自新的不同视图的信息而改进，并且还随着通过声纳滚转运动而不是环绕目标获取的图像而改进。计算机模拟允许评估凸和凹多边形的方法的收敛性能和性能。此外，从实验结果与真实的图像的无定形珊瑚岩石和一个微型木表展示性能的3-D建模的小物体具有不同的反射特性。
Building 3-D object models from 2-D images is a key capability for target classification and identification, reacquisition, and environmental mapping, among many applications in underwater with poor visibility. We present a novel approach in utilizing multiple 2-D forward-look sonar images from known sonar poses to localize an acoustically opaque target and reconstruct its 3-D shape. Based on projections onto various images, the 3-D space not occupied by an imaged target within the sonar field of view is sequentially carved out, leaving the remaining volume as the estimate of the 3-D object region. The estimation generally improves with information from new distinct views, and moreover with images acquired through sonar roll motions, rather than circumnavigating the target. Computer simulations allow assessing the convergence properties and performance of the approach for convex and concave polygons. Additionally, results from experiments with real images of amorphous coral rocks and a miniature wood table demonstrate performance in the 3-D modeling of small objects with varying reflectance properties.