Fusing Concurrent Orthogonal Wide-aperture Sonar Images for Dense Underwater 3D Reconstruction
John McConnell,John D. Martin,Brendan Englot,John McConnell,John D. Martin,Brendan Englot
We propose a novel approach to handling the ambiguity in elevation angle associated with the observations of a forward looking multi-beam imaging sonar, and the challenges it poses for performing an accurate 3D reconstruction. We utilize a pair of sonars with orthogonal axes of uncertainty to independently observe the same points in the environment from two different perspectives, and associate th...
