Underwater Volumetric Mapping using Imaging Sonar and Free-Space Modeling Approach
António J. Oliveira,Bruno M. Ferreira,Nuno A. Cruz,António J. Oliveira,Bruno M. Ferreira,Nuno A. Cruz
Lack of information and perceptual ambiguity are key problems in sonar-based mapping applications. We propose a technique for mapping of underwater environments, building on the finite, positive, sonar beamwidth. Our approach models the free-space covered by each emitted acoustic pulse, employing volumetric techniques to create grid-based submaps of the unoccupied water volumes through images coll...
