Umgebungskartenschätzung aus Sidescan-Sonardaten für ein autonomes Unterwasserfahrzeug

By: Material type: ArticleArticleLanguage: German Publication details: KIT Scientific Publishing 2016Description: 1 electronic resource (XXV, 331 p. p.)ISBN:
  • KSP/1000055793
  • 9783731505419
Subject(s): Online resources: Summary: This work makes several contributions to the process of estimating elevation maps from side-scan sonar data: A new estimation method that recreates sonar measurements by pre-computed known sonar responses (so called kernels) and then derives a height profile from the kernels used. Additionally, a 3D method based on Markov Random Fields and a side-scan sonar simulation environment for arbitraty 3D scenes featuring different sonar modes and several terrain generators have been developed.
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This work makes several contributions to the process of estimating elevation maps from side-scan sonar data: A new estimation method that recreates sonar measurements by pre-computed known sonar responses (so called kernels) and then derives a height profile from the kernels used. Additionally, a 3D method based on Markov Random Fields and a side-scan sonar simulation environment for arbitraty 3D scenes featuring different sonar modes and several terrain generators have been developed.

Creative Commons https://creativecommons.org/licenses/by-sa/4.0/ cc https://creativecommons.org/licenses/by-sa/4.0/

German

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