A Theory of Fermat Paths for 3D Imaging Sonar Reconstruction
Eric Westman,Ioannis Gkioulekas,Michael Kaess,Eric Westman,Ioannis Gkioulekas,Michael Kaess
In this work, we present a novel method for reconstructing particular 3D surface points using an imaging sonar sensor. We derive the two-dimensional Fermat flow equation, which may be applied to the planes defined by each discrete azimuth angle in the sonar image. We show that the Fermat flow equation applies to boundary points and surface points which correspond to specular reflections within the...
