A Volumetric Albedo Framework for 3D Imaging Sonar Reconstruction
A Volumetric Albedo Framework for 3D Imaging Sonar Reconstruction
复制标题
用于 3D 成像声纳重建的体积反照率框架
DOI：
10.1109/icra40945.2020.9197042
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
M. Kaess
中科院分区：
文献类型：
--
作者：
E. Westman;Ioannis Gkioulekas;M. Kaess
我们提出了一个新的框架，对象级的三维水下重建成像声纳传感器。我们证明，成像声纳重建是类似的共焦非视线（NLOS）重建的问题。利用这种连接，我们制定的问题之一，解决体积的EQUIDO，其中感兴趣的场景被建模为一个无方向EQUIDO字段。在离散化之后，重建简化为凸线性优化问题，我们可以用各种先验和正则化项来增强该问题。我们将展示如何使用交替方向乘法器（ADMM）算法来解决由此产生的正则化问题。我们证明了所提出的方法的有效性，在模拟和真实世界的数据集收集在一个受控的，测试坦克环境与几个不同的声纳高程孔径。
We present a novel framework for object-level 3D underwater reconstruction using imaging sonar sensors. We demonstrate that imaging sonar reconstruction is analogous to the problem of confocal non-line-of-sight (NLOS) reconstruction. Drawing upon this connection, we formulate the problem as one of solving for volumetric albedo, where the scene of interest is modeled as a directionless albedo field. After discretization, reconstruction reduces to a convex linear optimization problem, which we can augment with a variety of priors and regularization terms. We show how to solve the resulting regularized problems using the alternating direction method of multipliers (ADMM) algorithm. We demonstrate the effectiveness of the proposed approach in simulation and on real-world datasets collected in a controlled, test tank environment with several different sonar elevation apertures.