Article ID Journal Published Year Pages File Type
9669990 Signal Processing: Image Communication 2005 21 Pages PDF
Abstract
This paper presents a system for the three-dimensional (3D) reconstruction of an underwater environment on the basis of multiple range views from an acoustical camera. The challenge is to provide the reconstruction on-line, as the range views are obtained from the sensor. The final target of the work is to improve the understanding of a human operator driving an underwater Remotely Operated Vehicle. The acoustic camera provides a sequence of 3D images in real time. Data must be registered and fused to generate a unique 3D mosaic in the form of a triangle mesh, which is rendered through a graphical interface. Available technologies for registration and meshing have been modified and extended to match time constraints. Some experiments on real data are reported.
Related Topics
Physical Sciences and Engineering Computer Science Computer Vision and Pattern Recognition
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